TY - GEN
T1 - Research and Design of a Humanoid Cushioning Foot for Robot Jumping
AU - Yi, Chuanku
AU - Chen, Xuechao
AU - Yu, Zhangguo
AU - Qi, Haoxiang
AU - Huang, Qiang
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - A novel structure of humanoid foot is proposed in this paper to reduce the impact force and absorb the oscillation of the jumping robot landing. Referring to the structure of the human foot, a humanoid foot with bionic bones and joints was designed. The dynamic model of the structure of the humanoid foot was established for quantitative simulation and optimization of the parameters. The entity of the new foot was processed. Then, landing impact experiments were carried out to compare the impact force absorbing ability of different parts of the foot and other feet under the same conditions. Finally, the humanoid foot was installed on the robot ATHLETE to test the foot's performance indicators in the case of actual robot landing. This proved that the new foot can reduce the impact force and absorb oscillation better than the rubber pad foot.
AB - A novel structure of humanoid foot is proposed in this paper to reduce the impact force and absorb the oscillation of the jumping robot landing. Referring to the structure of the human foot, a humanoid foot with bionic bones and joints was designed. The dynamic model of the structure of the humanoid foot was established for quantitative simulation and optimization of the parameters. The entity of the new foot was processed. Then, landing impact experiments were carried out to compare the impact force absorbing ability of different parts of the foot and other feet under the same conditions. Finally, the humanoid foot was installed on the robot ATHLETE to test the foot's performance indicators in the case of actual robot landing. This proved that the new foot can reduce the impact force and absorb oscillation better than the rubber pad foot.
UR - http://www.scopus.com/inward/record.url?scp=85146307340&partnerID=8YFLogxK
U2 - 10.1109/Humanoids53995.2022.10000193
DO - 10.1109/Humanoids53995.2022.10000193
M3 - Conference contribution
AN - SCOPUS:85146307340
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 330
EP - 336
BT - 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022
PB - IEEE Computer Society
T2 - 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022
Y2 - 28 November 2022 through 30 November 2022
ER -