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

    研究成果: Chapter

    3 引用 (Scopus)

    抜粋

    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.

    元の言語English
    ホスト出版物のタイトルCISM International Centre for Mechanical Sciences, Courses and Lectures
    出版者Springer International Publishing
    ページ249-256
    ページ数8
    DOI
    出版物ステータスPublished - 2010 1 1

    出版物シリーズ

    名前CISM International Centre for Mechanical Sciences, Courses and Lectures
    524
    ISSN(印刷物)0254-1971
    ISSN(電子版)2309-3706

      フィンガープリント

    ASJC Scopus subject areas

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

    これを引用

    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. : CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 249-256). (CISM International Centre for Mechanical Sciences, Courses and Lectures; 巻数 524). Springer International Publishing. https://doi.org/10.1007/978-3-7091-0277-0_29