A study of function of foot's medial longitudinal arch using biped humanoid robot

The humanoid robot, WABIAN-2R, has achieved human-like walking with knee-stretched, heel contact and toe off motions by using a foot mechanism with a passive toe joint. However, the foot structure is different from a human's. In this paper, we describe a new foot mechanism capable of mimicking...

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Bibliographic Details
Published in2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2206 - 2211
Main Authors Hashimoto, Kenji, Takezaki, Yuki, Hattori, Kentaro, Kondo, Hideki, Takashima, Takamichi, Lim, Hun-ok, Takanishi, Atsuo
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2010
Subjects
Foot
Humans
Joints
Legged locomotion
Springs
Wire
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ISBN9781424466740
1424466741
ISSN2153-0858
DOI10.1109/IROS.2010.5650414

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Summary:The humanoid robot, WABIAN-2R, has achieved human-like walking with knee-stretched, heel contact and toe off motions by using a foot mechanism with a passive toe joint. However, the foot structure is different from a human's. In this paper, we describe a new foot mechanism capable of mimicking the human's foot arch structure to figure out the function of the arch structure. Especially, the developed foot mimics the elastic properties of the arch of the human's foot and the change of the arch height during walking. The foot mechanism consists of a passive joint in the internal toe, a passive joint in the external toe, and a joint in the foot arch. We conducted several walking experiments by using WABIAN-2R, and the function of the arch structure is clarified quantitatively. As a result, we confirmed that the arch elasticity could absorb a foot-landing force at the plantar contact phase and the change of the arch height contributed to a strong thrust at the push-off phase.
ISBN:9781424466740
1424466741
ISSN:2153-0858
DOI:10.1109/IROS.2010.5650414