Design of 8-DOF Humanoid Robot Foot

被引：0
|
作者：
Wei, Hui [1 ]
Shuai, Mei [2 ]
Wang, Zhongyu [1 ,3 ]
机构：
[1] Beihang Univ, Sch Instrumentat Sci & Optoelect Engn, Beijing 100191, Peoples R China
[2] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[3] Beihang Univ, Sch Instrumentat Sci & Optoelect Engn, Beijing 100191, Peoples R China
来源：
ADVANCED MECHANICAL DESIGN, PTS 1-3 | 2012年 / 479-481卷
基金：
中国国家自然科学基金;
关键词：
Humanoid robot; foot mechanism; uneven terrain;
D O I：
10.4028/www.scientific.net/AMR.479-481.2403
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper, a novel design of humanoid robot foot is proposed for uneven terrain walking. The proposed foot occupies 8-DOF, 4-DOF for pitch motions and 4-DOF for roll motions. To adapt to complex terrain with high energy efficiency, passive springs are placed at passive joints. The designed 8-DOF robot foot can absorb the influence of irregularities on the ground and unexpected disturbances. Through walking experiments, we confirmed the effectiveness of the proposed foot that maintained locomotion on uneven terrain with bump.
引用
收藏
页码：2403 / +
页数：2
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