Development of New Biped Foot Mechanism Mimicking Human's Foot Arch Structure

被引：0

作者：

Hashimoto, Kenji ^{[1
]}

Takezaki, Yuki ^{[2
]}

Hattori, Kentaro ^{[2
]}

Kondo, Hideki ^{[2
]}

Takashima, Takamichi ^{[3
]}

Lim, Hun-ok ^{[4
,5
]}

Takanishi, Atsuo ^{[1
,4
]}

机构：

[1] Waseda Univ, Dept Modern Mech Engn, Tokyo, Japan

[2] Waseda Univ, Grad Sch Sci & Engn, Tokyo, Japan

[3] Natl Rehabil Ctr for Persons Disabilities, Tokyo, Japan

[4] Kanagawa Univ, Sch Engn, Yokohama, Kanagawa, Japan

[5] Waseda Univ, Humanoid Robot Inst, Tokyo, Japan

来源：

ROMANSY 18: ROBOT DESIGN, DYNAMICS AND CONTROL | 2010年 / 524期

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The humanoid robot, WABIAN-2R, has achieved human-like walking with heel contact and toe off motions with a foot mechanism with a passive toe joint. However, the foot structure is different from a human's. In this paper, we describe a new foot mechanism mimicking the human's foot arch structure to figure out its function. Especially, the developed foot mimics the elastic properties of the arch and the change of the arch height during walking. We conducted several walking experiments by using WABIAN-2R, and we confirmed that the arch elasticity could absorb a foot-landing impact force at the plantar contact phase and the change of the arch height contributed to a strong thrust at the push-off phase.

引用

页码：249 / +

页数：2

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