TY - GEN
T1 - A study of function of foot's medial longitudinal arch using biped humanoid robot
AU - Hashimoto, Kenji
AU - Takezaki, Yuki
AU - Hattori, Kentaro
AU - Kondo, Hideki
AU - Takashima, Takamichi
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2010/12/1
Y1 - 2010/12/1
N2 - 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.
AB - 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.
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U2 - 10.1109/IROS.2010.5650414
DO - 10.1109/IROS.2010.5650414
M3 - Conference contribution
AN - SCOPUS:78651518988
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 2206
EP - 2211
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -