Reactive Foot-Control for Quadruped Walking

摘要

Articulated feet for walking machines have so far been the domain of two-legged systems. Biomechanical research has shown that the foot is actively used by quadrupedal mamals as well. Main benefits hereby are the strain reduction of the knee joint, better traction and a bigger support area. In this paper we describe the integration of a semi-articulated foot into the hardware and the reactive architecture of the four-legged walking machine BISAM.