Optimization and sensitivity analysis of the humanoid robot's foot using the design of experiments

실험계획법에 의한 휴머노이드 발의 민감도 해석 및 최적화

These days, up-to-date humanoid robots are continuously developed. Among them, Qrio, Asimo[1,2] are famous for its unique walking technology and natural movement. These robots could show manufacturers' technological improvement and leave a good impression to the customer. In accordance with global trends, Samsung is also producing humanoid robot. The humanoid robot, however, could walk like a human compared to the industrial robot fixed in the factory. This feature could cause another dynamic effect while walking. In this paper, the robot's feet were examined to find out parameters that affect stability of the humanoid robot's feet. With the sensitivity analysis, the optimization procedure in design of experiments finds the most suitable performance of robot. Maximum deflection of the frame upon various cases was minimized, and rubber coefficients for shock absorption were optimized.