Bipedal walking with oblique mid-foot joint in foot

摘要: This paper proposes a new design of robotic foot with an oblique mid-foot joint for stable bipedal walking. While lot humanoid robots are developed so far, their walking is not as adaptive that humans. For realizing such walking, it supposed musculoskeletal structure plays great roll. Especially, the human's much different from robot foot, and to contributing adaptability. In this report, we discuss on axis joint, one complexities human foot. most flexible in be stability. We put muscular-skeletal robot. Experimental results demonstrate stabilize its