Optimizing anthropomorphic form's of the flat feet modular walking robots MERO

The walking robots represent a special category of robots, characterized by having the power source and technological equipments embarked on the platform which can be transported on unarranged, horizontal and rough terrain. The performance of walking robots is closely related to the adopted gait and forms of the feet. Some robot foot soles have curved front and rear ends, when the foot soles land on or are lifted off the terrain, they are in linear contact with the terrain. Therefore, the pressure applied to the foot sole on terrain is transmitted through successively varying contact generative and the forces are transmitted smoothly from the terrain to the foot sole for a stable gait. The paper relates some particularities and the optimum design possibilities of the foot soles shape.