A Study of Pseudo Passive Biped Locomotion - Analysis of Foot Mechanism for Improvement of Standing Stability -

摘要

Most of the passive dynamic walking robot has arc shaped foot. This foot is effective for utilization of gravitational effect, however, standing stability is not much enough. Most of the robot with this type foot can not standstill. In this paper, we propose another foot mechanism with more standing stability and the function of utilization of gravitational effect like arc shape foot.