Cat-inspired mechanical design of self-adaptive toes for a legged robot

Huaxin Liu, Qiang Huang, Weimin Zhang, Xuechao Chen, Zhangguo Yu, Libo Meng, Lei Bao, Aiguo Ming, Yan Huang, Kenji Hashimoto, Atsuo Takanishi

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

    1 Citation (Scopus)

    Abstract

    Cats have protractible claws to fold their tips to keep them sharp. They protract claws while hunting and pawing on slippery surfaces. Protracted claws by tendons and muscles of toes can help cats anchoring themselves steady while their locomotion trends to slip and releasing the hold while they retract claws intentionally. This research proposes a kind of modularized self-adaptive toe mechanism inspired by cat claws to improve the extremities' contact performance for legged robot. The mechanism is constructed with four-bar linkage actuated by contact reaction force and retracted by applied spring tension. A feasible mechanical design based on several essential parameters is introduced and an integrated Sole-Toe prototype is built for experimental evaluation. Mechanical self-adaption and actual contact performance on specific surface have been evaluated respectively on a biped walking platform and a bench-top mechanical testing.

    Original languageEnglish
    Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages2425-2430
    Number of pages6
    Volume2016-November
    ISBN (Electronic)9781509037629
    DOIs
    Publication statusPublished - 2016 Nov 28
    Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
    Duration: 2016 Oct 92016 Oct 14

    Other

    Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
    CountryKorea, Republic of
    CityDaejeon
    Period16/10/916/10/14

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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  • Cite this

    Liu, H., Huang, Q., Zhang, W., Chen, X., Yu, Z., Meng, L., Bao, L., Ming, A., Huang, Y., Hashimoto, K., & Takanishi, A. (2016). Cat-inspired mechanical design of self-adaptive toes for a legged robot. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2016-November, pp. 2425-2430). [7759378] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759378