Development of new biped foot mechanism mimicking human’s foot arch structure

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

Research output: Chapter in Book/Report/Conference proceedingChapter

3 Citations (Scopus)

Abstract

The humanoid robot, WABIAN-2R, has achieved human-like walking with heel contact and toe off motions with 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 mimicking the human’s foot arch structure to figure out its function. Especially, the developed foot mimics the elastic properties of the arch and the change of the arch height during walking. We conducted several walking experiments by using WABIAN-2R, and we confirmed that the arch elasticity could absorb a foot-landing impact 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 publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer International Publishing
Pages249-256
Number of pages8
DOIs
Publication statusPublished - 2010

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
Volume524
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706

Keywords

  • Arch structure
  • Gait cycle
  • Heel contact
  • Humanoid robot
  • Vertical ground reaction force

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

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