抄録
The purpose of our paper is to design a three dimensional passive walker with sprung ankle and flat foot. Some 3D passive walkers have been developed with circular-arc or spherical foot with some passive devices to compensate yaw and roll motions. However, the foot has yaw motion because of low friction. We propose a flat foot with sprung ankle which stabilizes the lateral motion, and give a design method for the spring stiffness. Moreover, we prospect an effect of resonance between the swing leg and roll motion. Finally, we verify its effectiveness through experiments.
