Abstract
This paper is a presentation of a work that consists of considering a novel foot structure for biped robot inspired by human foot. The specific objective is to develop a foot mechanism with human-like toes for a small biped robot. The chosen architecture to present the biped includes ten degrees of freedom (DoF) on ten articulations between eleven links. Our study considers the effect of varying foot structure on a walking process of the robot in simulation by ADAMS (MSC software, USA) through gait generation method. In toe mechanism, aiming to reduce the energy consumption, the passive joint was selected as the toe joint. The center of gravity (CoG) point trajectories of the robot with varying toe is compared with each other in normal motion on flat terrain to determine the most consistent toe mechanism. The result shows that the selected foot structure enables the robot to walk stably and naturally.
Highlights
Research on the biped robots constitutes one of the fascinating axes in robotics
This study proposes a novel foot structure with toes for a small biped robot to cultivate its walking behavior on flat ground in the toe-off period
We study the effect of the novel foot structure with toes on the locomotion of a small biped robot
Summary
Research on the biped robots constitutes one of the fascinating axes in robotics. Over the past several decades, several anthropomorphic robots have constructed. Yu Ogura et al have proposed the new foot mechanism by implement one passive joint for bending toe motion of Wabian-2R. Wooseok Choi et al have developed a foot structure composed of a new toe mechanism with variable stiffness implemented using a leaf spring and rubber balls for a child-size humanoid robot. This structure can provide functionality and adaptability to humanoids locomotion on uneven terrains [11]. This study proposes a novel foot structure with toes for a small biped robot to cultivate its walking behavior on flat ground in the toe-off period.
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