Abstract
The goal of this study is to develop a bipedal robot with a simplified system. We adopted a Chebyshev link mechanism as a bipedal robot mechanism to reduce a number of actuators. The phase difference of the right and left legs is half a cycle. Therefore, the robot can walk by using only one motor with a rotary encoder for speed control. Then, we built a mechanical foot to mimic a human foot. It is said that a human foot can control body balance and absorb impact forces at the touch down. We installed a spring to the mechanical foot. We used three-dimensional acceleration sensors and inclination sensors to obtain data to evaluate the effect of the mechanical foot. From the experimental data, we observed a positive effect of the mechanical foot.
