Abstract
In this paper, a novel design of humanoid robot foot is proposed for uneven terrain walking. The proposed foot occupies 8-DOF, 4-DOF for pitch motions and 4-DOF for roll motions. To adapt to complex terrain with high energy efficiency, passive springs are placed at passive joints. The designed 8-DOF robot foot can absorb the influence of irregularities on the ground and unexpected disturbances. Through walking experiments, we confirmed the effectiveness of the proposed foot that maintained locomotion on uneven terrain with bump.
| Original language | English |
|---|---|
| Title of host publication | Advanced Mechanical Design |
| Pages | 2403-2406 |
| Number of pages | 4 |
| DOIs | |
| State | Published - 2012 |
| Event | 3rd international Conference on Manufacturing Science and Engineering, ICMSE 2012 - Xiamen, China Duration: 27 Mar 2012 → 29 Mar 2012 |
Publication series
| Name | Advanced Materials Research |
|---|---|
| Volume | 479-481 |
| ISSN (Print) | 1022-6680 |
Conference
| Conference | 3rd international Conference on Manufacturing Science and Engineering, ICMSE 2012 |
|---|---|
| Country/Territory | China |
| City | Xiamen |
| Period | 27/03/12 → 29/03/12 |
UN SDGs
This output contributes to the following UN Sustainable Development Goals (SDGs)
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SDG 7 Affordable and Clean Energy
Keywords
- Foot mechanism
- Humanoid robot
- Uneven terrain
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