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
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;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.973408
