Dynamics Simulation of Biped Robot with Arch Structure and Toe Joint
Reona Nekomoto* and Akinori Sekiguchi**,
*Sustainable Engineering Program, Graduate School of Engineering, Tokyo University of Technology
1404-1 Katakura, Hachioji, Tokyo 192-0982, Japan
**Department of Mechanical Engineering, School of Engineering, Tokyo University of Technology
1404-1 Katakura, Hachioji, Tokyo 192-0982, Japan
The arch structure of human foot absorbs impact and assists push-off movements during walking. The objective of this study is to introduce arch structures and toe joints into a biped robot, verify the effects, and devise walk control methods by dynamics simulation. We simulated the upright state and start of walking using Choreonoid. The results confirmed that the arch structure improved the impact absorption and stability in the anteroposterior direction. In addition, the arch structure could be expected to smooth the load transfer between the supporting legs during the step change.
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