THE MECHANISM OF GENERATING PUSHING UP FORCE IN THE FOOT OF THE BIPED ROBOT

摘要

A thrust generation mechanism in a foot of a biped walking robot is provided to improve the walking speed and posture and adaptability to the ground surface of the robot. A thrust generation mechanism in a foot of a biped walking robot comprises a pneumatic cylinder(12) provided between the heel and ankle of the robot foot, and two servo motors(15) generating propulsion torque for the foot. The robot makes instantaneous linear motion by a pair of pneumatic cylinder structure as the foot generates propulsion force against the ground surface.