Development of New Biped Foot Mechanism Mimicking Human’s Foot Arch Structure
Development of New Biped Foot Mechanism Mimicking Human’s Foot Arch Structure
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DOI：
10.1007/978-3-7091-0277-0_29
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
K. Hashimoto;Yuki Takezaki;K. Hattori;H. Kondo;T. Takashima;Hun-ok Lim;A. Takanishi
中科院分区：
文献类型：
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作者：
K. Hashimoto;Yuki Takezaki;K. Hattori;H. Kondo;T. Takashima;Hun-ok Lim;A. Takanishi
人形机器人WABIAN-2R通过带有被动脚趾关节的足部机构实现了像人类一样行走，脚跟接触和脚趾离地运动。然而，足部结构与人类不同。在本文中，我们描述了一种模仿人类足弓结构的新足部机制，以弄清楚其功能。特别是，发达的足部模仿了足弓的弹性特性以及行走过程中足弓高度的变化。我们利用WABIAN-2R进行了多次步行实验，证实足弓弹性可以吸收足底接触阶段的落地冲击力，足弓高度的变化有助于在推出阶段提供强大的推力。
The humanoid robot, WABIAN-2R, has achieved human-like walking with heel contact and toe off motions with a foot mechanism with a passive toe joint. However, the foot structure is different from a human’s. In this paper, we describe a new foot mechanism mimicking the human’s foot arch structure to figure out its function. Especially, the developed foot mimics the elastic properties of the arch and the change of the arch height during walking. We conducted several walking experiments by using WABIAN-2R, and we confirmed that the arch elasticity could absorb a foot-landing impact force at the plantar contact phase and the change of the arch height contributed to a strong thrust at the push-off phase.