ゴムの非対称配置による足首機構を利用した高効率2足歩行

抄録

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.