Design of 8-DOF Humanoid Robot Foot

Hui Wei; Mei Shuai; Zhong Yu Wang

doi:10.4028/www.scientific.net/AMR.479-481.2403

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 479-481Design of 8-DOF Humanoid Robot Foot

Design of 8-DOF Humanoid Robot Foot

Abstract:

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.

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Periodical:

Advanced Materials Research (Volumes 479-481)

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2403-2406

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.479-481.2403

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Online since:

February 2012

Authors:

Hui Wei, Mei Shuai, Zhong Yu Wang

Keywords:

Foot Mechanism, Humanoid Robot, Uneven Terrain

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References

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