Comparative Study on Agility, Efficiency, and Impact Absorption of Bipedal Robots with Active Toes
Human legs exhibit high efficiency, agility, and impact absorption, with toes playing a crucial role in these capabilities. While many attempts have been made to implement human-like toes in robots, they have not fully replicated human characteristics nor rigorously validated their benefits. We propose a 14-DOF biped robot emulating human toes' lightweight, high-torque, robust nature. To quantitatively analyze the effectiveness of the active toes in terms of agility, efficiency, and impact absorption, we developed a high-fidelity simulation training environment that reflects actual actuators with coupled transmissions and accurate power consumption. To ensure a fair comparison between con...
| Authors | Joong-Gil Kim, Wontae Ye, Geunwoo Cho et al. |
|---|---|
| Primary category | cs.RO |
| Published | 18 June 2026 |
| Last updated at source | 18 June 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.