Takumi Yokomichi and Nobuhiro Ushimi
Biped Robot, Unknown Rough Terrain, Sole Mechanism, Three-Toes, Locking Mechanism, Unlocking Mechanism
This paper describes the development of a new sole mechanism for a biped robot's foot to unknown rough terrain walking. The developed sole mechanism of the biped robot's foot has the structure of three-toes and frictional locking and unlocking mechanisms. The developed sole mechanism can level the bottom of the biped robot's foot by the three-toes on the unknown rough terrain. To stabilize the sole of the biped robot on the level, the frictional locking and unlocking mechanisms of the three-toes are used for the new sole mechanism. The stable walking control of the biped robot is simplified by the developed sole mechanism.
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