| Issue |
MATEC Web Conf.
Volume 95, 2017
2016 the 3rd International Conference on Mechatronics and Mechanical Engineering (ICMME 2016)
|
|
|---|---|---|
| Article Number | 08010 | |
| Number of page(s) | 5 | |
| Section | Robot Design and Control | |
| DOI | https://doi.org/10.1051/matecconf/20179508010 | |
| Published online | 09 February 2017 | |
The Effect of Foot Structure on Locomotion of a Small Biped Robot
Graduate School of Engineering and Science, Shibaura Institute of Technology, Minuma-ku, Saitama-shi, 307 Fukasaku, Saitama, 337-8570, Japan
This paper is a presentation of a work that consists of considering a novel foot structure for biped robot inspired by human foot. The specific objective is to develop a foot mechanism with human-like toes for a small biped robot. The chosen architecture to present the biped includes ten degrees of freedom (DoF) on ten articulations between eleven links. Our study considers the effect of varying foot structure on a walking process of the robot in simulation by ADAMS (MSC software, USA) through gait generation method. In toe mechanism, aiming to reduce the energy consumption, the passive joint was selected as the toe joint. The center of gravity (CoG) point trajectories of the robot with varying toe is compared with each other in normal motion on flat terrain to determine the most consistent toe mechanism. The result shows that the selected foot structure enables the robot to walk stably and naturally.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.