Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Design of a Flexible Robot Foot with Toes and Heel Joints

발가락과 뒤꿈치 조인트를 갖는 유연한 로봇 발 설계

  • Park, Jin-Hee (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.) ;
  • Kim, Hyun-Sul (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.) ;
  • Kwon, Sang-Joo (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.)
  • 박진희 (한국항공대학교 항공우주 및 기계공학부) ;
  • 김현술 (한국항공대학교 항공우주 및 기계공학부) ;
  • 권상주 (한국항공대학교 항공우주 및 기계공학부)
  • Received : 2010.10.04
  • Accepted : 2011.01.18
  • Published : 2011.04.01
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Abstract

In terms of the anatomy and mechanics of the human foot, a flexible robot foot with toes and heel joints is designed for a bipedal walking robot. We suggest three design considerations in determining foot design parameters which are critical for walking stability. Those include the position of the frontal toe, the stiffness of toes and heels, and the position of the ankle joint. Compared with the conventional foot with flat sale, the proposed foot is advantageous for human-like walking due to the inherent structural flexibility and the reasonable parameter values. Simulation results are provided to determine the design parameters and also show that the proposed foot enables smaller energy consumption.

Keywords

References

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