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 Dec 1
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

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

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    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] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5650414