抄録
High power humanoid robots may move at high speed in the same environment as human. When they land on uneven terrain or receive shock suddenly, instantaneous large force is applied to the structure of their feet and it can be broken. So, robots require shock-reduction mechanisms at ankle. In this paper, the ankle mechanism which can reduce the landing impact by using spring elastic element is presented and experiments, and we investigated the relationship between machanical structure and shock.
