COMPARING ARC-SHAPED FEET AND RIGID ANKLES WITH FLAT FEET AND COMPLIANT ANKLES FOR A DYNAMIC WALKER

摘要

In this paper we show that exchanging curved feet and rigid ankles by flat feet and compliant ankles improves the range of gait parameters for a bipedal dynamic walker, The new lower legs were designed such that they fit to the old set-up, allowing for a direct and quantitative comparison. The dynamic walking robot RunBot, controlled by an reflexive neural network, uses only few sensors for generating its stable gait. The results show that flat feet and compliant ankles extend RunBot's parameter range especially to more leaning back postures. They also allow the robot to stably walk over obstacles with low height.