The Role of Compliant Elements in Two-Legged Robot’s Foot Model

摘要

Proposi on of compliant foot for bipedal robot is introduced and its proper es are inves gated. The foot consists of four compliant elements (spring-damper) mounted to four ver ces of a rectangular frame. The results of robot gait analysis using Zero Moment Point method are shown. ZMP trajectories for rigid and compliant foot are compared and conclusions are formulated. Foot compliance reduces needed for postural stabilizaon compensatory movements of the upper part of the body by those simplifying control methods and construcon. Obtained results will be applied in real prototype of small humanoidal robot. Robot construc on in which proposed foot will be applied is shortly introduced.