Research and Design of a Humanoid Cushioning Foot for Robot Jumping

Chuanku Yi; Xuechao Chen; Zhangguo Yu; Haoxiang Qi; Qiang Huang

doi:10.1109/Humanoids53995.2022.10000193

Research and Design of a Humanoid Cushioning Foot for Robot Jumping

Chuanku Yi, Xuechao Chen, Zhangguo Yu, Haoxiang Qi, Qiang Huang

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

3 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022
Publisher	IEEE Computer Society
Pages	330-336
Number of pages	7
ISBN (Electronic)	9798350309799
DOIs	https://doi.org/10.1109/Humanoids53995.2022.10000193
Publication status	Published - 2022
Externally published	Yes
Event	2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022 - Ginowan, Japan Duration: 28 Nov 2022 → 30 Nov 2022

Publication series

Name	IEEE-RAS International Conference on Humanoid Robots
Volume	2022-November
ISSN (Print)	2164-0572
ISSN (Electronic)	2164-0580

Conference

Conference	2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022
Country/Territory	Japan
City	Ginowan
Period	28/11/22 → 30/11/22

Access to Document

10.1109/Humanoids53995.2022.10000193

Cite this

Yi, C., Chen, X., Yu, Z., Qi, H., & Huang, Q. (2022). Research and Design of a Humanoid Cushioning Foot for Robot Jumping. In 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022 (pp. 330-336). (IEEE-RAS International Conference on Humanoid Robots; Vol. 2022-November). IEEE Computer Society. https://doi.org/10.1109/Humanoids53995.2022.10000193

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title = "Research and Design of a Humanoid Cushioning Foot for Robot Jumping",

abstract = "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.",

author = "Chuanku Yi and Xuechao Chen and Zhangguo Yu and Haoxiang Qi and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022 ; Conference date: 28-11-2022 Through 30-11-2022",

year = "2022",

doi = "10.1109/Humanoids53995.2022.10000193",

language = "English",

series = "IEEE-RAS International Conference on Humanoid Robots",

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Yi, C, Chen, X , Yu, Z, Qi, H & Huang, Q 2022, Research and Design of a Humanoid Cushioning Foot for Robot Jumping. in 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022. IEEE-RAS International Conference on Humanoid Robots, vol. 2022-November, IEEE Computer Society, pp. 330-336, 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022, Ginowan, Japan, 28/11/22. https://doi.org/10.1109/Humanoids53995.2022.10000193

Research and Design of a Humanoid Cushioning Foot for Robot Jumping. / Yi, Chuanku; Chen, Xuechao ; Yu, Zhangguo et al.
2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022. IEEE Computer Society, 2022. p. 330-336 (IEEE-RAS International Conference on Humanoid Robots; Vol. 2022-November).

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

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T1 - Research and Design of a Humanoid Cushioning Foot for Robot Jumping

AU - Yi, Chuanku

AU - Chen, Xuechao

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PY - 2022

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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.

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M3 - Conference contribution

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SP - 330

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BT - 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022

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Research and Design of a Humanoid Cushioning Foot for Robot Jumping

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