ICRA'09 Paper Abstract


Paper FrD1.3

Ikemata, Yoshito (Nagoya Institute of Technology), Sano, Akihito (Nagoya Institute of Technology), Yasuhara, Kiyoshi (Nagoya Institute of Technology), Fujimoto, Hideo (Nagoya Institute of Technology)

Dynamic Effects of Arc Feet on the Leg Motion of Passive Walker

Scheduled for presentation during the Regular Sessions "Legged Robots and Humanoid Locomotion - IV" (FrD1), Friday, May 15, 2009, 16:10−16:30, MainHall

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Legged Robots and Humanoid Locomotion


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.



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