Humanoid Robot Foot Research Articles

Design of Humanoid Robot Foot to Absorb Ground Reaction Force by Mimicking Longitudinal Arch and Transverse Arch of Human Foot

Design of Humanoid Robot Foot to Absorb Ground Reaction Force by Mimicking Longitudinal Arch and Transverse Arch of Human Foot

A Design of Humanoid Foot Control System

Humanoid robots can be used in high-risk operations or to replace human repetitive tasks. The basis of its various subsequent functions is the stability of biped walking. A humanoid foot structure which adapts to the ground condition and changes the contact mode is designed. The mechanical structure of robot foot is divided into two parts: front sole and rear sole. Using flexibility force transducer array and temperature transducer to monitor landform and ground data. The mechanical structure of this humanoid robot foot is such that the robot can realize passive deformation of the foot. The active deformation of the robot foot is realized by STM32 controlling servo. The structure contains four kinds of working modes, can make the robot achieve semi-passive walking, with certain robustness. In this paper, we design the mechanical structure of the robot foot and its control method. Finally, the feasibility of the foot structure is verified by experiments.

Design and Development of an IOT Based Multi Terrain Humanoid Robot Foot

Design and Development of an IOT Based Multi Terrain Humanoid Robot Foot

인간형 로봇의 발 모듈 개발을 위한 분석적 방법의 6 축 힘 / 모멘트 센서 설계

The forces and moments exerted on humanoid robot foot are important information for controlling or monitoring the robot. Multi-axis force/moment sensor can be installed under humanoid robot foot to measure forces and moments. The sensor should have large stiffness to support the robot weight and small size not to disturb the motion of the robot. In this paper, we designed a 6-aixs force/moment sensor which has good accuracy, large measuring range, and new compact structure. In addition, the proposed sensor is evaluated using analytical method and FEM(Finite Elements Method) method. Finally, it turned out that it has good performance.

Development and evaluation of a compact 6-axis force/moment sensor with a serial structure for the humanoid robot foot

In order to walk safely, forces and moments exerted on humanoid robot foot should be measured and used for controlling the robot. This paper describes the development and evaluation of a six-axis force/moment sensor used under humanoid robot foot. The developed sensor is capable of measuring 400N horizontal force, 1000N vertical force, 20N·m moment about the horizontal axis and 10N·m moment about the vertical axis using rectangular cross-sectional beams. The structure of the sensor is newly modeled, and the sensing elements are simulated by using finite element method (FEM). Then the sensor is fabricated by attaching strain gages onto the beams. Finally, a characteristic test of the developed sensor is carried out, and the output from FEM analysis agrees with those from the characteristic test.

Signal Processing and Application of Six-axis Force/Torque Sensor Integrated in Humanoid Robot Foot

Six-axis force/torque sensor (F/T sensor) that can detect three orthogonal forces and torques has been extensively adopted in humanoid robot foot for stable control. Due to the F/T sensors being seriously influenced by the electromagnetic interference from ankle generator, signal stability of F/T sensor is still one of the main influencing factors for accurately dynamical and stable control. Though the problem with influencing electromagnetic noise can be solved generally and partially by shielding of the sensor and wires, this traditional method will to some extend face implementation difficulty induced by special mounting space and application environment especially in humanoid robot ankle. Therefore, the research on the output signal stability and precision of the F/T sensors has still been one of the most essential subjects for humanoid robot dynamic equilibrium control. In this paper, some various signal processing methods have been adopted and analyzed comparatively with the aim at the output signal anti-interference processing of F/T sensors. And the filtering effect and its feasibility were verified experimentally in the dynamic walking motion of humanoid robot platform BHR-2.

Perception of effective contact area distribution for humanoid robot foot

Maintaining dynamical stability for humanoid robots to walk or run in even environments has so far been achieved. However, it will become a challenge work to keep balance under rough terrains, because the effective contact area (ECA) between the feet and the uneven environments is less than that on even ground. Thus some control schemes are additionally needed for robot to keep dynamical balance, which increases the complexity of control. In view of that, flexible force sensor array (FFSA) system is adopted under robot feet to detect the ECA in the case of stepping on rough terrains. Structure optimum, data acquisition, processing methods, etc., of the FFSA system are all elaborately provided in this paper. And the feasibility and validity of the FFSA system mounted in the robot foot system are experimentally tested on the humanoid robot platform BHR-2.

Design of 8-DOF Humanoid Robot Foot

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.

Optimum design method of multi-axis force sensor integrated in humanoid robot foot system

The multi-axis force sensor (MFS) has been extensively adopted in humanoid robot foot to obtain external forces/moments acted on the foot while in locomotion. The precision and comprehensive performances of MFS originally determined by its elastomer structure are significant essentially for humanoid robots to keep balance by detection of external forces/moments during walking motion. The reason for the transmission of coupling-error of structure is analyzed and then the optimum method for the function of objective-optimization of MFS compliance matrix, Finite Element Method (FEM), orthogonal design and range analysis method are all proposed synthetically. In addition, the comprehensive performances of MFS designed by the optimum method are analyzed and elaborated in a concrete design case. Finally, the main indexes of the MFS are verified experimentally through humanoid robot’s dynamic walking motion.

Development of 6-axis force/moment sensor for a humanoid robot's foot

The development of a 6-axis force/moment sensor considering adult weight for an intelligent foot of humanoid robot is described. To walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy and Fz and moments Mx, My and Mz to itself and control itself using the forces and moments. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to the foot, which is composed of Fx, Fy, Fz, Mx, My and Mz sensors in a body. Each sensor has different rated loads because the applied forces and moments to foot in walking are different. Therefore one of the important tasks in developing the sensor is to design each sensor with the different rated loads and the same rated output. A 6-axis force/moment sensor for a humanoid robot's foot was developed using parallel plate-beams. The structure of the sensor was newly modelled, and the sensing elements (plate-beams) of the sensor were designed using theoretical analysis. Then, the 6-axis force/moment sensor was fabricated by attaching strain gauges on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from the theoretical analysis agree well with that from the characteristic test.

Development of 6-axis force/moment sensor for a humanoid robot's intelligent foot

In order to walk on uneven terrain safely, the foot should perceive the applied forces F x , F y , F z , moments M x , M y , M z to itself, and must control itself using the measured values. The applied forces and moments should be measured from the 6-axis force/moment sensor attached to the foot. Each sensor should get the different rated load, because the applied forces and moments to foot in walking are different. Therefore, one of the important things in the sensor is to design each sensor with the different rated load, and the same rated output. In this paper, a 6-axis force/moment sensor (rated load of F x and F y are 500 N and F z sensor is 1000 N, and those of M x and M y are 18 N m, z sensor is 8 N m) for perceiving forces and moments in a humanoid robot's foot was developed by using many parallel plate-beams (PPBs). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed by using finite element method (FEM). Then the 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, finally the characteristic test of the developed sensor was carried out. And the rated outputs from FEM analysis are agreed well with those from the characteristic test.

2P1-N-106 ヒューマノイドロボット用高速分布圧力センサの開発(触覚と力覚5,生活を支援するロボメカ技術のメガインテグレーション)

2P1-N-106 ヒューマノイドロボット用高速分布圧力センサの開発(触覚と力覚5,生活を支援するロボメカ技術のメガインテグレーション)

ヒューマノイドロボットの歩行時の足圧分布取得(触覚・力覚2)

ヒューマノイドロボットの歩行時の足圧分布取得(触覚・力覚2)