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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2425-2430
ページ数6
ISBN(電子版)9781509037629
DOI
出版ステータスPublished - 2016 11 28
イベント2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
継続期間: 2016 10 92016 10 14

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
2016-November
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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