Abstract
In this paper, a new type bipedal robot which has soft hemispheric feet is proposed. It is able to realize an efficient bipedal locomotion by utilizing a rolling motion of hemispheric feet effectively. Furthermore, each hemispheric foot has an active torsional joint. Thus it is able to move as a wheeled vehicle using an infinite rolling motion by the torsional joint. It, however, is difficult to keep its balance more proper than a humanoid robot having normal flat feet. Therefore, firstly a balance control and gait generation method which consider the rolling effect of feet are proposed. After that, several numerical simulations are conducted to demonstrate the effectiveness of the proposed balance control and gait generation method.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The Proceedings of Mechanical Engineering Congress, Japan
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
