Publication

Hanyang University HumanRobotics Lab

International Conference
Modeling and Analysis of a Biomimetic Foot Mechanism
Conference
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
Author
J.-T. Seo, B.-J. Yi
Year
2009
Date
2009.10.31
File
Modeling and Analysis of a Biomimetic Foot Mechanism.pdf (1.2M) 0회 다운로드 DATE : 2020-10-19 22:35:30
Abstract: Humans and mammals possess their own feet. Using the mobility of their feet, they are able to walk in various environments such as plain land, desert, swamp, and so on. Previously developed biped robots and four-legged robots did not employ such adaptable foot. In this work, a biomimetic foot mechanism is investigated through analysis of the foot structure of the human-being. This foot mechanism consists of a toe, an ankle, a heel, and springs replacing the foot muscles and tendons. Using five toes and springs, this foot can adapt to various environments. A mathematical modeling for this foot mechanism was performed and its characteristics were observed through numerical simulation.