Abstract
To improve walking performance in a real environment of a biped walking robot, a foot structure that flexibly follows the terrain is desired. In this research, used topology optimization method by the Finite Element Method (FEM) simulation software MSC Nastran for create foot structure. And this performed for a plurality of load patterns, a foot structure was created by combining the resulting structure patterns. And also used the Multibody Dynamics (MBD) simulation software Adams for validation of foot structure. For that reason implemented foot structure as elastic body (MNF) to whole of body model of the biped robot. As described above we tried to create a foot structure that satisfies both static and dynamic characteristics through cooperation between FEM and MBD simulation. We will report on this creation process and findings.
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