Ankle and Foot Mechanism Mimicking Joint Stiffness and Following Motion Based on Human

Takuya Otani, Kenji Hashimoto, Akira Natsuhara, Masanori Sakaguchi, Yasuo Kawakami, Hun ok Lim, Atsuo Takanishi

研究成果: Chapter

抄録

While running, humans use the stiffness of the knee and ankle joint of the leg. Mimicking this motion can improve the output power and performance of humanoid robots. It also offers the possibility of clarifying running in humans, from an engineering perspective, by mimicking other characteristics of an ankle joint. In this paper, we design an ankle and foot mechanism that mimics human’s characteristics, such as joint stiffness in the direction of pitch, and following the floor surface in the direction of roll upon landing for stabilization. To mimic these characteristics, our ankle joint mechanism consisted of CFRP (Carbon Fiber Reinforced Plastic)-laminated leaf springs implemented on the foot of the robot for a deflection in direction of pitch and a twist in the direction of the roll. We ensured that the ankle joint can follow the ground in the direction of roll at landing in a hopping experiment.

本文言語English
ホスト出版物のタイトルCISM International Centre for Mechanical Sciences, Courses and Lectures
出版社Springer International Publishing
ページ86-93
ページ数8
DOI
出版ステータスPublished - 2019

出版物シリーズ

名前CISM International Centre for Mechanical Sciences, Courses and Lectures
584
ISSN(印刷版)0254-1971
ISSN(電子版)2309-3706

ASJC Scopus subject areas

  • モデリングとシミュレーション
  • 材料力学
  • 機械工学
  • コンピュータ サイエンスの応用

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