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Byoung-Ho Kim Biomimetics & Intelligent Robotics Lab., Dept. of Mechatronics Eng., Kyungsung University , . , , . , . : - , , , AbstractThis paper presents a model of bipedal leg mechanism with a compliant foot, and the contact repulsion of the foot for atypical walking pattern and its in s uence on the knee and hip joints of the leg will be analyzed. This analysis is useful forus to Þ gure out the physical impact of the foot when a walking robot takes a step. Also it can be applied to determine thejoint speci Þ cation of the leg mechanism. As a result, it is shown that the compliance characteristics of a robotic foot cancontribute to alleviate the joint torques of the leg affected by the contact repulsion of the foot.Key Words: Bipedal leg mechanism with a foot, Contact repulsion, Walking fatigue, Walking robots

Contact Repulsion of Robotic Foot and Its Influence on Knee and Hip Joints