Semi passive kneed walker: Analysis of foot parameters for an effective gait balance

Abstract

Bipedal walking robots have been the focus of research literature in recent years. The main objective of these studies is to improve stability and optimize walking behavior of human-like robots. The passive kneed bipedal are capable of generating stable human-like walking without any actuation on inclined surfaces. Circular arc foot has significant effect on the leg motion. In this paper, some issues of circular arc foot design to improve walking behavior are studied. Physical parameters of our robot such as mass distribution have been chosen close to human body parameters. The robot walks on a level ground by an energy injection through the push-off. Results of this study show that by choosing the appropriate location of the circular arc foot center, for constant input energy, a significant range of stable velocities can be achieved. The effect of arc foot center position on step length, step velocity, foot clearance and stability of the robot is presented.