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 Jan 1

    Publication series

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

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    Keywords

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

    ASJC Scopus subject areas

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

    Cite this

    Hashimoto, K., Takezaki, Y., Hattori, K., Kondo, H., Takashima, T., Lim, H. O., & Takanishi, A. (2010). Development of new biped foot mechanism mimicking human’s foot arch structure. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 249-256). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 524). Springer International Publishing. https://doi.org/10.1007/978-3-7091-0277-0_29