A study of function of foot's medial longitudinal arch using biped humanoid robot

Kenji Hashimoto, Yuki Takezaki, Kentaro Hattori, Hideki Kondo, Takamichi Takashima, Hun Ok Lim, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    37 Citations (Scopus)

    Abstract

    The humanoid robot, WABIAN-2R, has achieved human-like walking with knee-stretched, heel contact and toe off motions by using a foot mechanism with a passive toe joint. However, the foot structure is different from a human's. In this paper, we describe a new foot mechanism capable of mimicking the human's foot arch structure to figure out the function of the arch structure. Especially, the developed foot mimics the elastic properties of the arch of the human's foot and the change of the arch height during walking. The foot mechanism consists of a passive joint in the internal toe, a passive joint in the external toe, and a joint in the foot arch. We conducted several walking experiments by using WABIAN-2R, and the function of the arch structure is clarified quantitatively. As a result, we confirmed that the arch elasticity could absorb a foot-landing force at the plantar contact phase and the change of the arch height contributed to a strong thrust at the push-off phase.

    Original languageEnglish
    Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
    Pages2206-2211
    Number of pages6
    DOIs
    Publication statusPublished - 2010
    Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei
    Duration: 2010 Oct 182010 Oct 22

    Other

    Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
    CityTaipei
    Period10/10/1810/10/22

    Fingerprint

    Arches
    Robots
    Landing
    Elasticity

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction
    • Control and Systems Engineering

    Cite this

    Hashimoto, K., Takezaki, Y., Hattori, K., Kondo, H., Takashima, T., Lim, H. O., & Takanishi, A. (2010). A study of function of foot's medial longitudinal arch using biped humanoid robot. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 2206-2211). [5650414] https://doi.org/10.1109/IROS.2010.5650414

    A study of function of foot's medial longitudinal arch using biped humanoid robot. / Hashimoto, Kenji; Takezaki, Yuki; Hattori, Kentaro; Kondo, Hideki; Takashima, Takamichi; Lim, Hun Ok; Takanishi, Atsuo.

    IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 2206-2211 5650414.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Hashimoto, K, Takezaki, Y, Hattori, K, Kondo, H, Takashima, T, Lim, HO & Takanishi, A 2010, A study of function of foot's medial longitudinal arch using biped humanoid robot. in IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings., 5650414, pp. 2206-2211, 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, 10/10/18. https://doi.org/10.1109/IROS.2010.5650414
    Hashimoto K, Takezaki Y, Hattori K, Kondo H, Takashima T, Lim HO et al. A study of function of foot's medial longitudinal arch using biped humanoid robot. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 2206-2211. 5650414 https://doi.org/10.1109/IROS.2010.5650414
    Hashimoto, Kenji ; Takezaki, Yuki ; Hattori, Kentaro ; Kondo, Hideki ; Takashima, Takamichi ; Lim, Hun Ok ; Takanishi, Atsuo. / A study of function of foot's medial longitudinal arch using biped humanoid robot. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. pp. 2206-2211
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    abstract = "The humanoid robot, WABIAN-2R, has achieved human-like walking with knee-stretched, heel contact and toe off motions by using a foot mechanism with a passive toe joint. However, the foot structure is different from a human's. In this paper, we describe a new foot mechanism capable of mimicking the human's foot arch structure to figure out the function of the arch structure. Especially, the developed foot mimics the elastic properties of the arch of the human's foot and the change of the arch height during walking. The foot mechanism consists of a passive joint in the internal toe, a passive joint in the external toe, and a joint in the foot arch. We conducted several walking experiments by using WABIAN-2R, and the function of the arch structure is clarified quantitatively. As a result, we confirmed that the arch elasticity could absorb a foot-landing force at the plantar contact phase and the change of the arch height contributed to a strong thrust at the push-off phase.",
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