Using the foot windlass mechanism for jumping higher: A study on bipedal robot jumping

Abstract

Both scientists and roboticists widely agree that the musculoskeletal system of the human foot plays an important role in locomotion. Nevertheless, the contribution of the foot musculoskeletal system has not been fully uncovered because currently it is impossible to modify and evaluate musculoskeletons in living animals. Here, to understand the effects of foot windlass mechanism, we construct a bipedal robot, which has similar musculoskeleton and dynamics to those of human. By implementing experiments on this robot, we investigate the effects (e.g. jumping height) of foot windlass mechanism on drop jumping, a simple and representative bouncing gait comprising landing and push-off. Through a significant number of drop jumping trials, the results demonstrated that (1) the windlass mechanism is passively activated in the push-off phase and that (2) it contributes to the height of jumping. Our results suggest that the foot windlass mechanism contributes to the energy efficiency and performance in locomotion.