| 摘要 |
PROBLEM TO BE SOLVED: To improve functions such as a moving speed, a step, ground adaptability, and impact absorption to floor reaction force by the introduction of the tiptoe. SOLUTION: A capability of going up and down stairs can be improved by using the tiptoe in which the tiptoe mounted to a foot has the degree of freedom in the direction of jumping up. The position of an ankle is made higher by bending the tiptoe. The substantial leg length is extended. A selection range of a leg locus is made wider. An angular speed at each shaft can be suppressed. Each tiptoe has a ground angle different from that of a landing floor face of the foot. As a result, proper support moment can be generated when ZMP (zero moment point) is made as a stability discrimination standard. COPYRIGHT: (C)2005,JPO&NCIPI
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