Abstract
In this study, we analyse the work of bipedal walking robots with compliant feet. For this purpose, a walking model of bipedal robots with compliant feet is considered. The ligamentous structure of the human foot is used for the compliant feet mechanisms of the bipedal robot considered herein. A work principle is used for determining the corresponding work at the joint space of the compliant legs according to the reaction force which is propagated from the foot space. The usefulness of the work analysis is demonstrated through exemplary simulations. Consequently, it is shown that the work analysis can be used for evaluating the fatigue of the bipedal robot accumulated by the physical walking impact between the supporting foot and the contact surface. Furthermore, comfortable walking by means of footgear with a compliance is addressed.
Highlights
There has been a significant advance in the research of walking robots mimicking the variety of human functions [1,2,3,4,5]
In order to analyse the systematic influence of the reaction force transferred from the plantar surface of bipedal robots, we consider a typical model of bipedal walking robots as shown in Fig. 1 and reveal a walking model of the bipedal robot with compliant feet
Note that the work expressions in (13) and (14) are useful for determining the corresponding work at the joint space of the compliant legs according to the reaction force which is propagated from the foot space
Summary
There has been a significant advance in the research of walking robots mimicking the variety of human functions [1,2,3,4,5]. On the other hand, such an influence of shock might be reduced by employing a certain compliant mechanism In this sense, we need to check the joint torque effect from the reaction force which is transferred from the foot space during walking. It is shown that the work analysis is useful for evaluating the fatigue of the bipedal legs accumulated by the impact of physical walking between the supporting foot and the contact surface.
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