Walking Simulation of Biped Robot with Arch Structure and Toe Joint

Abstract

The arch structure of human foot absorbs impact and assists push-off movements during walking. The objective of this study is to introduce arch structures and toe joints into a biped robot, and verify the effects and devise walk control methods by dynamic simulation. We simulated the upright state and the start of walking, using the Choreonoid. From the results, it was confirmed that the arch structure improved the impact absorption and stability in the anteroposterior direction. In addition, it was confirmed that the arch structure could be expected to smooth the load transfer between the supporting legs during the step change.