Flexible Foot Design for Biped Walking on Uneven Terrain

被引：0
|
作者：
Toh, Chen Koon [1 ]
Xie, Ming [1 ]
Yang, Hejin [1 ]
Zhang, Guoqing [1 ]
Bui, Quoc Phuong [1 ]
Tian, Bo [1 ]
机构：
[1] Nanyang Technol Univ, Sch Mech & Aerosp Engn, Singapore 637553, Singapore
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, PT I | 2010年 / 6424卷
关键词：
Humanoid Robot; Flexible Foot; Biped Walking; Uneven Terrain;
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：
Mechanical design of feet for humanoid robot is described to be used with planning and control strategy to overcome issues on uneven terrain walking. The gait planning and control method are explained briefly in this paper, while the foot mechanism design to complement the control algorithm is presented with full details. The design limitations and specifications are reported and the design criteria cum selection of mechanical components are closely examined. Important functions like obstacle detection and shock absorption are included in the design with low cost approach. The 3D drawing of final assembly and finished prototype are included.
引用
收藏
页码：442 / 452
页数：11
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