Disclosed are robotic systems, methods, bipedal robot devices, and computer-readable mediums. For example, a robotic system may include a robotic leg connected to a main body and a robotic foot. A robotic sole joint may be connected to the robotic leg, where the robotic sole joint is located at a sole of the robotic foot. The robotic leg and the robotic foot may be movable around an axis of rotation defined by the robotic sole joint. A movement around the axis may cause a ZMP to shift from a first location to a second location in the robotic foot. A measure of force applied by the robotic sole joint around the axis may be approximately equal to zero.
Robotic sole joint
2017-04-18
Patent
Electronic Resource
English
Online Contents | 1995
NTRS | 1995
|Compliant Prosthetic Or Robotic Joint
NTRS | 1989
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