Designing a Foot Shape that Stabilizes Passive Dynamic Walk by Constraining Leg Angles

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  • 倒れ込み現象を足裏形状により抑制した受動歩行の安定化
  • タオレコミ ゲンショウ オ アシウラ ケイジョウ ニ ヨリ ヨクセイシタ ジュドウ ホコウ ノ アンテイカ

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This paper proposes a foot shape design to enhance stability of passive dynamic walk, by constraining fall down phenomenon in both sagittal and lateral planes. The falling down effects in passive dynamic walk is divided into those in lateral plane and sagittal plane. In lateral plane, limiting swing from side to side is effective to avoid falling down in this plane. This is realized by preparing limiter shape in lateral direction, such as two separate sub-foots placed apart in parallel. In sagittal plane, stability of walk is kept by constraining fall down phenomenon toward moving direction. A constrainer attached in front of a foot at the support leg will avoid this overhang. A prototype of a foot that realizes those two constraining effects into a 3D shape design is proposed. We show that the constraining effect by the proposed foot shape is effective for a walk comparing to an arctic foot shape.

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