ゴムの非対称配置による足首機構のプロトタイプ設計と性能改善

抄録

In this paper, we show a prototype that has a novel foot mechanism with asymmetrically arranged rubbers at the ankles. We designed a prototype that has rubbers at the ankles, and the rubbers have asymmetrically arranged. The prototype has the desired performance, and it achieves desired planter flexion and dorsal flexion. The biped robots with proposed mechanism freely achieve push-off than the biped robots with the conventional ankle spring mechanism. We then developed a model that has the property of the proposed mechanism. We analyzed the walking speed and energy efficiency of the biped robot with proposed mechanism. Moreover, we show a design method of the ankle elasticity without decreasing walking performance.