Development of a New Sole Mechanism for Biped Robots to Unknown Rough Terrain

Takumi Yokomichi and Nobuhiro Ushimi

Keywords

Biped Robot, Unknown Rough Terrain, Sole Mechanism, ThreeToes, Locking Mechanism, Unlocking Mechanism

Abstract

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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