A simple 3D straight-legged passive walker with flat feet and ankle springs

Terumasa Narukawa, Kazuto Yokoyama, Masaki Takahashi, Kazuo Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages2952-2957
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: 2008 Sep 222008 Sep 26

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Narukawa, T., Yokoyama, K., Takahashi, M., & Yoshida, K. (2008). A simple 3D straight-legged passive walker with flat feet and ankle springs. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2952-2957). [4651174] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4651174