2A1-T01 Realization of bipedal robot walking on uneven surface by utilizing stiffness-variable foot sole mechanism(Walking Robot(1))

摘要

This research aims to realize the walking of bipedal robot on an uneven surface by using a novel foot sole mechanism which utilizes the jamming transition effect of granular material enclosed in an air tight bag. The stiffness-variable property of the mechanism according to the internal air pressure of the bag is investigated, and a stiffness control test had been carried out to determine the speed and smoothness of the change in stiffness of the mechanism. A bipedal walking robot had been developed for use during actual walking experiments using the proposed foot sole mechanism. Planar walking experiments will be carried out to evaluate the performance of the proposed foot-sole mechanism.