Design of small power biped robot by load sharing of walking gait

A small power biped robot is designed by the load sharing method of walking gait. Walking can be classified into one-foot and two-foot standing during the common speed smooth walking. In two-foot standing, the weight of robot can be distributed to all joints. However, in one-foot standing, it is burdened to one foot, especially to ankle joint. So bigger actuator or even the passive joint is considered at the ankle joint; but bigger actuator increases the weight of robot and passive joint does not control ankle. When the small power actuator is used at all joints, ankle joint is sometimes overloaded during walking and this makes walking impossible. This problem is solved using the appropriate walking gait, that is, it depresses or distributes the driving power of the ankle joint when the load is applied to the ankle, and drives the ankle joint before the load is applied. By this method, the small power biped robot can be implemented without overloading the ankle joint. Experiments are conducted to prove the proposed method