Efficient Biped Walking Using Ankle Mechanism with Asymmetrically Arranged Rubbers

Abstract

In this paper, we show a novel foot mechanism for energy-efficient biped walking. Biped robots with fixed ankle springs have achieved energy-efficient dynamic walking. The fixed ankle springs, however, prevent flexible foot rotation. We propose a foot mechanism with asymmetrically arranged rubbers at the ankles. Furthermore, we show the effectiveness of the proposed method through numerical simulations.