DocumentCode
2381514
Title
Dynamic effects of arc feet on the leg motion of passive walker
Author
Ikemata, Yoshito ; Sano, Akihito ; Yasuhara, Kiyoshi ; Fujimoto, Hideo
Author_Institution
Nagoya Inst. of Technol., Nagoya, Japan
fYear
2009
fDate
12-17 May 2009
Firstpage
2755
Lastpage
2760
Abstract
The passive walker with knees can naturally execute the leg motion by the dynamics of legs under the gravity only. Circular arc foot is very important for the leg motion. In this paper, the dynamical effects of the arc foot, which can keep the knee joint of stance leg straight only by the stopper and can enhance the flexion of knee joint of swing leg, are discussed. Also, its geometrical negative effect is examined. Finally, the desired arc foot is designed and the actual effects are confirmed by a walking experiment.
Keywords
control system synthesis; geometry; legged locomotion; path planning; robot dynamics; arc foot design; dynamic effect; geometrical negative effect; leg motion; passive walker; stance legs knee joint; Equations; Foot; Gravity; Knee; Leg; Legged locomotion; Limit-cycles; Robotics and automation; Shape; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location
Kobe
ISSN
1050-4729
Print_ISBN
978-1-4244-2788-8
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2009.5152454
Filename
5152454
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