DocumentCode
2050297
Title
Dynamic walk of a bipedal robot having flexible feet
Author
Bruneau, Olivier ; Ouezdou, F.B. ; Fontaine, Jean-Guy
Author_Institution
Vision & Robotics Lab., Orleans Univ., France
Volume
1
fYear
2001
fDate
2001
Firstpage
512
Abstract
The objective of the work is to evaluate the contribution of flexibilities in the feet of a bipedal robot during a dynamic walk. The two major effects are the diminution of the intensity of the normal force when the heel touches the ground and the increase of the phase of double support allowing a better stability of the system. Another notable effect is the analogy between the passive flexion amplitude of the tiptoes and the measured results of human subjects
Keywords
legged locomotion; robot dynamics; robot kinematics; stability; bipedal robot; double support; dynamic walk; flexible feet; heel; normal force; passive flexion amplitude; stability; tiptoes; Anthropometry; Foot; Humans; Laboratories; Leg; Legged locomotion; Power supplies; Robot vision systems; Stability; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location
Maui, HI
Print_ISBN
0-7803-6612-3
Type
conf
DOI
10.1109/IROS.2001.973408
Filename
973408
Link To Document