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http://dx.doi.org/10.5391/JKIIS.2013.23.1.12

Contact Repulsion of Robotic Foot and Its Influence on Knee and Hip Joints  

Kim, Byoung-Ho (Biomimetics & Intelligent Robotics Lab., Dept. of Mechatronics Eng., Kyungsung University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.23, no.1, 2013 , pp. 12-17 More about this Journal
Abstract
This paper presents a model of bipedal leg mechanism with a compliant foot, and the contact repulsion of the foot for a typical walking pattern and its influence on the knee and hip joints of the leg will be analyzed. This analysis is useful for us to figure out the physical impact of the foot when a walking robot takes a step. Also it can be applied to determine the joint specification of the leg mechanism. As a result, it is shown that the compliance characteristics of a robotic foot can contribute to alleviate the joint torques of the leg affected by the contact repulsion of the foot.
Keywords
Bipedal leg mechanism with a foot; Contact repulsion; Walking fatigue; Walking robots;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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