A Study of the Sole Mechanism of Biped Robots to Rough Terrain Locomotion

摘要

This paper describes the study of a biped robot foot sole mechanism for use in unknown rough terrain locomotion. The mechanism has a structure consisting of three toes and frictional locking and unlocking mechanisms. The mechanisms level the bottom of the biped robot's foot by using the three toes when on unknown rough terrain. To stabilize the sole of the biped robot on a level surface, the frictional locking and unlocking mechanisms of the three toes are used for the sole mechanism. Stable walking control of the biped robot is simplified by the sole mechanism we developed.