Flexible foot design for a humanoid robot

Jianxi Li; Qiang Huang; Weimin Zhang; Zhangguo Yu; Kejie Li

doi:10.1109/ICAL.2008.4636375

Flexible foot design for a humanoid robot

Jianxi Li^*
, Qiang Huang
, Weimin Zhang
, Zhangguo Yu
, Kejie Li

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

39 Citations (Scopus)

Abstract

Since a biped robot tends to tip over easily due to impacts, rough terrain or obstacle object, stable and reliable biped walking is a very important achievement. Well designed foot plays a crucial role in stabilization control for a humanoid robot. In this paper, we present a flexible foot design for our humanoid robot, including a landing impact absorption mechanism and a foot attitude estimation system. First, the mechanical design of the flexible foot is proposed. Rubber bushes and rubber pads are adopted for absorbing impacts. Then, the implementation of hardware and software for the foot attitude estimation system is presented. MEMS accelerometer and angular rate gyroscopes operate as dynamic inclination measurement sensors and a DSP is used for signal collecting and processing. Finally, the effectiveness of the developed flexible foot is confirmed by several experiments.

Original language	English
Title of host publication	Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008
Publisher	IEEE Computer Society
Pages	1414-1419
Number of pages	6
ISBN (Print)	9781424425020
DOIs	https://doi.org/10.1109/ICAL.2008.4636375
Publication status	Published - 2008
Externally published	Yes
Event	IEEE International Conference on Automation and Logistics, ICAL 2008 - Qingdao, China Duration: 1 Sept 2008 → 3 Sept 2008

Publication series

Name	Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008

Conference

Conference	IEEE International Conference on Automation and Logistics, ICAL 2008
Country/Territory	China
City	Qingdao
Period	1/09/08 → 3/09/08

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Attitude estimation
Flexible foot
Humanoid robot
Impact absorption
MEMS sensor

Access to Document

10.1109/ICAL.2008.4636375

Cite this

Li, J., Huang, Q., Zhang, W., Yu, Z., & Li, K. (2008). Flexible foot design for a humanoid robot. In Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008 (pp. 1414-1419). Article 4636375 (Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008). IEEE Computer Society. https://doi.org/10.1109/ICAL.2008.4636375

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title = "Flexible foot design for a humanoid robot",

abstract = "Since a biped robot tends to tip over easily due to impacts, rough terrain or obstacle object, stable and reliable biped walking is a very important achievement. Well designed foot plays a crucial role in stabilization control for a humanoid robot. In this paper, we present a flexible foot design for our humanoid robot, including a landing impact absorption mechanism and a foot attitude estimation system. First, the mechanical design of the flexible foot is proposed. Rubber bushes and rubber pads are adopted for absorbing impacts. Then, the implementation of hardware and software for the foot attitude estimation system is presented. MEMS accelerometer and angular rate gyroscopes operate as dynamic inclination measurement sensors and a DSP is used for signal collecting and processing. Finally, the effectiveness of the developed flexible foot is confirmed by several experiments.",

keywords = "Attitude estimation, Flexible foot, Humanoid robot, Impact absorption, MEMS sensor",

author = "Jianxi Li and Qiang Huang and Weimin Zhang and Zhangguo Yu and Kejie Li",

year = "2008",

doi = "10.1109/ICAL.2008.4636375",

language = "English",

isbn = "9781424425020",

series = "Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008",

publisher = "IEEE Computer Society",

pages = "1414--1419",

booktitle = "Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008",

address = "United States",

note = "IEEE International Conference on Automation and Logistics, ICAL 2008 ; Conference date: 01-09-2008 Through 03-09-2008",

}

Li, J , Huang, Q , Zhang, W , Yu, Z & Li, K 2008, Flexible foot design for a humanoid robot. in Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008., 4636375, Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008, IEEE Computer Society, pp. 1414-1419, IEEE International Conference on Automation and Logistics, ICAL 2008, Qingdao, China, 1/09/08. https://doi.org/10.1109/ICAL.2008.4636375

Flexible foot design for a humanoid robot. / Li, Jianxi ; Huang, Qiang ; Zhang, Weimin et al.
Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008. IEEE Computer Society, 2008. p. 1414-1419 4636375 (Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Flexible foot design for a humanoid robot

AU - Li, Jianxi

AU - Huang, Qiang

AU - Zhang, Weimin

AU - Yu, Zhangguo

AU - Li, Kejie

PY - 2008

Y1 - 2008

N2 - Since a biped robot tends to tip over easily due to impacts, rough terrain or obstacle object, stable and reliable biped walking is a very important achievement. Well designed foot plays a crucial role in stabilization control for a humanoid robot. In this paper, we present a flexible foot design for our humanoid robot, including a landing impact absorption mechanism and a foot attitude estimation system. First, the mechanical design of the flexible foot is proposed. Rubber bushes and rubber pads are adopted for absorbing impacts. Then, the implementation of hardware and software for the foot attitude estimation system is presented. MEMS accelerometer and angular rate gyroscopes operate as dynamic inclination measurement sensors and a DSP is used for signal collecting and processing. Finally, the effectiveness of the developed flexible foot is confirmed by several experiments.

AB - Since a biped robot tends to tip over easily due to impacts, rough terrain or obstacle object, stable and reliable biped walking is a very important achievement. Well designed foot plays a crucial role in stabilization control for a humanoid robot. In this paper, we present a flexible foot design for our humanoid robot, including a landing impact absorption mechanism and a foot attitude estimation system. First, the mechanical design of the flexible foot is proposed. Rubber bushes and rubber pads are adopted for absorbing impacts. Then, the implementation of hardware and software for the foot attitude estimation system is presented. MEMS accelerometer and angular rate gyroscopes operate as dynamic inclination measurement sensors and a DSP is used for signal collecting and processing. Finally, the effectiveness of the developed flexible foot is confirmed by several experiments.

KW - Attitude estimation

KW - Flexible foot

KW - Humanoid robot

KW - Impact absorption

KW - MEMS sensor

UR - https://www.scopus.com/pages/publications/56449102838

U2 - 10.1109/ICAL.2008.4636375

DO - 10.1109/ICAL.2008.4636375

M3 - Conference contribution

AN - SCOPUS:56449102838

SN - 9781424425020

T3 - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008

SP - 1414

EP - 1419

BT - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008

PB - IEEE Computer Society

T2 - IEEE International Conference on Automation and Logistics, ICAL 2008

Y2 - 1 September 2008 through 3 September 2008

ER -

Flexible foot design for a humanoid robot

Abstract

Publication series

Conference

UN SDGs

Keywords

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