TY - GEN
T1 - A simple 3D straight-legged passive walker with flat feet and ankle springs
AU - Narukawa, Terumasa
AU - Yokoyama, Kazuto
AU - Takahashi, Masaki
AU - Yoshida, Kazuo
PY - 2008/12/1
Y1 - 2008/12/1
N2 - To date, most passive walkers have been designed with arc-shaped feet rigidly attached to the legs. We developed a simple 3D straight-legged passive walker with flat feet and ankle springs. The flat feet are connected to the legs with springs at the ankles that produce torsional force while the stance leg is on the ground, mimicking the motion of simple 3D passive walkers with arc-shaped feet. This helps to prevent slipping and to handle the disturbance behavior of the robot. Flat feet are particularly advantageous for yaw stability. Our 3D passive-walker robot with a 0.84-m leg can walk the full length of a 1.8-m slope at about 0.44 m/s.
AB - To date, most passive walkers have been designed with arc-shaped feet rigidly attached to the legs. We developed a simple 3D straight-legged passive walker with flat feet and ankle springs. The flat feet are connected to the legs with springs at the ankles that produce torsional force while the stance leg is on the ground, mimicking the motion of simple 3D passive walkers with arc-shaped feet. This helps to prevent slipping and to handle the disturbance behavior of the robot. Flat feet are particularly advantageous for yaw stability. Our 3D passive-walker robot with a 0.84-m leg can walk the full length of a 1.8-m slope at about 0.44 m/s.
UR - http://www.scopus.com/inward/record.url?scp=69549120690&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2008.4651174
DO - 10.1109/IROS.2008.4651174
M3 - Conference contribution
AN - SCOPUS:69549120690
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 2952
EP - 2957
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -