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New Trends in Mechanism and Machine Science pp 595–602Cite as

Feet Compliance in Two Legged Locomotion

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 24))

Abstract

The concept of compliant robotic foot is proposed and the method of postural equilibration analysis of two-legged robot with compliant feet is proposed. Trajectories of foot reaction force are obtained. Those trajectories are crucial for postural stability evaluation. Presented results are useful for robot motion synthesis and for a compliant feet design. Presented method was tested using simulations, results will be applied in the real robot.

This work was partially supported by EMARO.

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Author information

Authors and Affiliations

  1. Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Ul. Nowowiejska 24, 00–665, Warsaw, Poland

    Magdalena Zurawska & Teresa Zielinska

Authors
  1. Magdalena Zurawska
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  2. Teresa Zielinska
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Corresponding author

Correspondence to Magdalena Zurawska .

Editor information

Editors and Affiliations

  1. Mechanical Engineering Department, University of Minho, Guimaraes, Portugal

    Paulo Flores

  2. Structural and Mechanical Engineering, University of Cantabria, Santander, Spain

    Fernando Viadero

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© 2015 Springer International Publishing Switzerland

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Zurawska, M., Zielinska, T. (2015). Feet Compliance in Two Legged Locomotion. In: Flores, P., Viadero, F. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-319-09411-3_63

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  • DOI: https://doi.org/10.1007/978-3-319-09411-3_63

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-09410-6

  • Online ISBN: 978-3-319-09411-3

  • eBook Packages: EngineeringEngineering (R0)

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