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This research aims to develop a novel foot sole mechanism which utilizes the jamming transition effect of granular material enclosed in an air tight bag, for use by bipedal robot walking on uneven ground. The mechanism is designed to make the foot sole be soft and compliant to adapt to the surface of an uneven terrain, and be stiff when the robot is in the support phase of the walking gait. The stiffness-variable...
When human walks down a slope, the center of gravity of the body leans backward to keep balance, meanwhile the friction between the heel and ground is increased. Considering this situation, a model of passive kneed biped with fixed feet is modeled in this paper. This type of passive models compensates the lost energy of collision by the potential energy when the knee is locked and the foot impacts...
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