期刊
ADVANCED ROBOTICS
卷 36, 期 13, 页码 631-640出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/01691864.2021.2017343
关键词
Bioinspired robotic foot design; human foot rotational motion; bevel gear; yaw moment; bipedal walking robot
类别
This study proposes a mechanical design for reducing the yaw moment and whole-body rotation of a bipedal walking robot without complicated control, showing a significant decrease in the peak of the yaw moment and the amplitude change of the torso yaw rotation with the geared foot.
The human foot structure has been evaluated, especially on its contribution to stable bipedal locomotion. This paper presents a bevel-geared mechanical bioinspired robotic foot that emulates the rotational motions of the human subtalar and oblique midtarsal joints. The motions generate a yaw moment at touch-down and may contribute to suppressing yaw rotation of the whole body. We develop a musculoskeletal biped robot equipped with feet and conduct walking experiments to measure the generated yaw moment during walking. Experimental results demonstrate that the peak of the yaw moment and the amplitude change of the torso yaw rotation significantly decrease by 41.4% and 13.0% with the geared foot, respectively. This study proposes a mechanical design for reducing the yaw moment and whole-body rotation of a bipedal walking robot without complicated control.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据