Abstract
Byoung-Ho Kim Biomimetics & Intelligent Robotics Lab., Dept. of Mechatronics Eng., Kyungsung University . . , . , , . : , , AbstractThis paper analyzes a virtual work of the knee and hip joints of bipedal walking robots. For the purpose, we considera model of bipedal leg mechanism with a compliant foot and a typical walking pattern. We also check the torque char-acteristics at the joint space propagated from the space of the foot contacting a s at and stiff surface, and present theworks accumulated at the joint space. As a result, it is shown that this analysis is useful for evaluating the fatigue of theleg mechanism by the physical walking contact between the foot and the surface, and it is applicable for improving thecompliant characteristics at the foot space by employing a proper footgear.Key Words: Bipedal walking robots, Knee and hip joints, Work and walking fatigue
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