Synthesis of Leg-Mechanisms of Biped Walking Machines : Part II, Synthesis of Foot-Driving Mechanism

Abstract

The paper describes a kinematic synthesis of a planner link mechanism with only revolute pairs to drive the foot which is attached to the ankle-path-generator obtained in the 1st paper. The ankle-joint angle and foot dimension necessary to realize a required gait have been determined in the case where the ankle-path-generator is predetermined. Then, a mechanism which is composed of a six-bar mechanism fixed on the thigh and a four-bar mechanism on the shank has been proposed and synthesized to drive the foot. A walking machine has been manufactured by combining the synthesized ankle-path-generator and the foot-driving mechanism with a mechanism for compensation of moments due to the gravitational and inertial forces. The machine has been experimentally confirmed to walk satisfying the given conditions.