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JRM Vol.28 No.6 pp. 799-807
doi: 10.20965/jrm.2016.p0799
(2016)

Paper:

Foot Structure with Divided Flat Soles and Springs for Legged Robots and Experimental Verification

Shotaro Mamiya, Shigenori Sano, and Naoki Uchiyama

Department of Mechanical Engineering, Toyohashi University of Technology
1-1 Hibarigaoka, Tempaku, Toyohashi, Aichi 441-8580, Japan

Received:
March 30, 2016
Accepted:
August 18, 2016
Published:
December 20, 2016
Keywords:
biped walking, foot structure with spring, reaction measurement, landing control
Abstract

Foot Structure with Divided Flat Soles and Springs for Legged Robots and Experimental Verification

Robotic foot adaptable to rough terrain

Practical ambulation must be realized by walking robots to enable social and industrial support by walking robots in human living environments. A four-legged robot that walks through rough terrain effectively does not erase the fact that most legged robots – particularly biped robots – have difficulty negotiating rough terrain. We focus below on a foot structure and landing control for enabling any type of legged robot to walk through rough terrain. When a walking robot lands on the ground, it is difficult to detect the detailed geometry and dynamic properties of the ground surface. The new foot structure we propose adapts to ground surfaces that have different geometries and hardness. The foot has four-part flat soles. The landing controller we apply to a robot with our proposed foot structure increases the stability of contact with the ground. We verify the effectiveness of our proposed foot structure in experiments.

Cite this article as:
S. Mamiya, S. Sano, and N. Uchiyama, “Foot Structure with Divided Flat Soles and Springs for Legged Robots and Experimental Verification,” J. Robot. Mechatron., Vol.28, No.6, pp. 799-807, 2016.
Data files:
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Last updated on Nov. 12, 2018