This review paper provides a synthetic yet critical overview of the key biomechanical
principles of human bipedal walking and their current implementation in robotic platforms …

This comprehensive guide to agricultural robots is the ideal companion for any student or
professional engineer looking to understand and develop autonomous vehicles to use on …

Owing to their complex structural design and control system, musculoskeletal robots struggle
to execute complicated tasks such as turning with their limited range of motion. This study …

Compared with the conventional flat foot, the flexible foot is advantageous in implementing
human-like walking and much reduces energy consumption. In this paper, from an …

A methodology for implementing arbitrary foot shapes in the passive walking dynamics of
biped robots is developed. The dynamic model of a walking robot is defined in a way that …

For humanoid robots, design of the ankle mechanism is still open research problem since
high torque is required while compact structures have to be maintained. This paper …

This letter shows how the mass distribution in a robot's leg affects the propagation of
mechanical shocks from the foot to the torso. An example is given of a leg design that …

This paper investigates the effect of foot shape on biped locomotion. In particular, we
consider planar biped robots whose feet are composed of curved surfaces at toe and heel …

This paper presents a new structure of foot force sensors for bipedal robots. The sensor has
a property of passive compliance. Passive compliance is achieved with two kinds of elastic …

The intricate multi-segment structure of human foot, which enables versatile and adaptable
movement, has attracted attention to the development of biomimetic feet. However, directly …