HyperLeg: Biomechanics-Inspired High-DOF Leg and Toe Mechanism for Highly Dynamic Motions
Do-Yun Kim,Seong-Ho Yun,Joong-Kyung Lee,Jongjun Yoon,Dongyun Nam,Chan-Young Maeng,Yong-Jae Kim,Do-Yun Kim,Seong-Ho Yun,Joong-Kyung Lee,Jongjun Yoon,Dongyun Nam,Chan-Young Maeng,Yong-Jae Kim
A human foot with high degrees of freedom (DOF) that has multi-DOF toe joints and a two-DOF ankle provides multiple benefits, such as increased stride length and walking speed, impact mitigation, and enhanced balancing. However, creating such mechanisms for legged robots has been challenging due to increased complexity, heavy weight, and vulnerability to impact. In this paper, a novel leg and toe ...
