Design and Construction of a Simple 3D Straight-Legged Passive Walker with Flat Feet and Ankle Springs

摘要

To date, most passive walkers have been designed with arc-shaped feet rigidly attached to the legs. However, the friction torque against yaw is often insufficient because of their contact conditions with the ground. We developed a simple 3D straight-legged passive walker with flat feet and ankle springs. Flat feet were used to gain enough scrubbing friction to oppose unstable yaw motion. Springs were attached to the ankle to produce torque resulting in roll and pitch motions that mimic those of 3D passive walkers with arc-shaped feet, while the friction torque against yaw should be sufficient. The spring constant for the roll motion at the stance ankle is obviously an important factor in enabling the straight-legged robot to rock adequately from side to side to avoid problematic scuffing of the swing leg so it can swing forward. We used numerical simulations to determine the value of the spring constant. Experimental results indicated that our 3D straight-legged passive walker with a 0.77-m leg can walk more than 2 m at about 0.46 m/s.