TY - CHAP
T1 - Development of new biped foot mechanism mimicking human’s foot arch structure
AU - Hashimoto, Kenji
AU - Takezaki, Yuki
AU - Hattori, Kentaro
AU - Kondo, Hideki
AU - Takashima, Takamichi
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
N1 - Funding Information:
This study was conducted as part of the Advanced Research Institute for Science and Engineering, Waseda University, and as part of the humanoid project at the Humanoid Robotics Institute, Waseda University. It was also supported in part by Global COE Program "Global Robot Academia" from the Ministry of Education. Culture, Sports, Science and Technology of Japan, Grant-in-Aid for Scientific Research (B) (I8360I26), Solid Works Japan K.K., QNX Software Systems, and DYDEN Corporation, whom we thank for their financial and technical support.
Funding Information:
This study was conducted as part of the Advanced Research Institute for Science and Engineering, Waseda University, and as part of the humanoid project at the Humanoid Robotics Institute, Waseda University. It was also supported in part by Global COE Program “Global Robot Academia” from the Ministry of Education, Culture, Sports, Science and Technology of Japan, Grant-in-Aid for Scientific Research (B) (18360126), SolidWorks Japan K.K., QNX Software Systems, and DYDEN Corporation, whom we thank for their financial and technical support.
Publisher Copyright:
© 2010, CISM, Udine.
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
KW - Arch structure
KW - Gait cycle
KW - Heel contact
KW - Humanoid robot
KW - Vertical ground reaction force
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U2 - 10.1007/978-3-7091-0277-0_29
DO - 10.1007/978-3-7091-0277-0_29
M3 - Chapter
AN - SCOPUS:85034600509
T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures
SP - 249
EP - 256
BT - CISM International Centre for Mechanical Sciences, Courses and Lectures
PB - Springer International Publishing
ER -