A legged robot has legs that have multiple links, one of which is a distal link. A foot assembly for interacting with the terrain is disposed on a distal end of the distal link. As a robot takes a step, a portion of the foot assembly that has lower effective inertia than the rest of the foot assembly touches down first and acts to reduce the vertical velocity of the rest of the foot assembly before it reaches the terrain through the use of an actuator located on the distal or intermediate link.
Leg and Foot Configuration for Spring-Free Legged Locomotion
2024-09-05
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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