Abstract
On the basis of our research the paper discusses how certain biological patterns are used for motion synthesis of multi-legged walking machines and humanoid robots. In particular, by focusing on humanoid (anthropomorphic) robots, it discusses how proper foot design allows to achieve body inclinations coordinated with legs movement for supporting the dynamic stability of the walking posture. The first part of the chapter summarizes methods of gait synthesis for multi-legged walking machines and humanoid robots. The criterion of dynamic gait stability (ZMP criterion) widely used for bipedal gait synthesis is discussed. This criterion was our starting point for determining the forces acting on the foot of a humanoid robot. Considering a compliant foot, a method for determining the force components acting on the foot was developed. Confirming the usefulness of the method, a calculation example for human gait was considered. The force components exerted by the foot on the ground were obtained for different foot dimensions. The method shows how a compliant foot supports the dynamic stability of the gait.
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