Publication

Hanyang University HumanRobotics Lab

Domestic Journal
생체모방 발 메커니즘의 모델링 및 해석
Journal
한국생산제조학회지
Vol
Vol.18, No.5
Page
pp. 521-528
Author
서종태, 이병주
Year
2009
Date
2009.10
File
생체모방 발 메커니즘의 모델링 및 해석.pdf (1.3M) 0회 다운로드 DATE : 2020-10-16 22:24:52
Abstact: In these days, biomimetic apprioach in the design and control of robotic system has drawn much attention. The human-being 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 some 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.