Abstract
The ultimate goal of this study is to develop a mechanical foot with an arch mechanism similar to that of a human foot for bipedal robots. Many researchers consider that the arch mechanism of human foot plays an important role of shock absorber and controlling the body posture. Introducing the arch mechanism to real robots can reduce the complexity of control of biped robots. We previously reported that we developed a biped robot using the Chebyshev linkages with only one actuator and a robot foot with an arch mechanism. In this paper, we report the development of a mechanical foot with two parallel longitudinal arches. We built a mechanical foot and found that it reduces the roll angle amplitude of the body compared with other feet through experiments using one DOF legs using Chebyshev linkages.
