Foot Mechanisms of Biped Robot for Self-supporting on Irregular Terrain

Abstract

This paper describes the design of foot mechanisms of a biped robot to raise the ability to self-support on irregular terrain. The proposed mechanisms of biped robot's foot involve the following two points to stabilize the robot's posture. First, the design of the sole that contacts with the ground at three points. It can contact with the uneven ground determinately. Second, the design of the ankle joint whose roll axis is oblique. It models itself on the human subtalar joint. This makes the support polygon large when the robot changes its stance width.