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JRM Vol.24 No.5 pp. 902-907
doi: 10.20965/jrm.2012.p0902
(2012)

Paper:

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

Takumi Yokomichi* and Nobuhiro Ushimi**

*Department of Brain Science and Engineering, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu, Fukuoka 808-0196, Japan

**Faculty of Engineering, Kyushu Sangyo University, 2-3-1 Matsukadai, Higashi-ku, Fukuoka 813-8503, Japan

Received:
September 30, 2011
Accepted:
August 28, 2012
Published:
October 20, 2012
Keywords:
biped robot, rough terrain, sole mechanism, three toes, locking and unlocking mechanisms
Abstract

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.

Cite this article as:
Takumi Yokomichi and Nobuhiro Ushimi, “A Study of the Sole Mechanism of Biped Robots to Rough Terrain Locomotion,” J. Robot. Mechatron., Vol.24, No.5, pp. 902-907, 2012.
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