TY - GEN
T1 - Cat-inspired mechanical design of self-adaptive toes for a legged robot
AU - Liu, Huaxin
AU - Huang, Qiang
AU - Zhang, Weimin
AU - Chen, Xuechao
AU - Yu, Zhangguo
AU - Meng, Libo
AU - Bao, Lei
AU - Ming, Aiguo
AU - Huang, Yan
AU - Hashimoto, Kenji
AU - Takanishi, Atsuo
N1 - Funding Information:
This work was supported by the NSFC of China under Grant 61320106012, 61375103, 61533004, 61273348, and 61321002, by the 863 Program of China under Grant 2014AA041602, 2015AA042305, and 2015AA043202, by the Key Tech. R&D Program under Grant 2015BAF13B01 and 2015BAK35B01, by the Beijing Natural Science Foundation under Grant 4154084, by the Beijing Municipal Science and Technology Project under Grant D161100003016002 and Z141100002014004, and by the "111" Project under Grant B08043.
Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - Cats have protractible claws to fold their tips to keep them sharp. They protract claws while hunting and pawing on slippery surfaces. Protracted claws by tendons and muscles of toes can help cats anchoring themselves steady while their locomotion trends to slip and releasing the hold while they retract claws intentionally. This research proposes a kind of modularized self-adaptive toe mechanism inspired by cat claws to improve the extremities' contact performance for legged robot. The mechanism is constructed with four-bar linkage actuated by contact reaction force and retracted by applied spring tension. A feasible mechanical design based on several essential parameters is introduced and an integrated Sole-Toe prototype is built for experimental evaluation. Mechanical self-adaption and actual contact performance on specific surface have been evaluated respectively on a biped walking platform and a bench-top mechanical testing.
AB - Cats have protractible claws to fold their tips to keep them sharp. They protract claws while hunting and pawing on slippery surfaces. Protracted claws by tendons and muscles of toes can help cats anchoring themselves steady while their locomotion trends to slip and releasing the hold while they retract claws intentionally. This research proposes a kind of modularized self-adaptive toe mechanism inspired by cat claws to improve the extremities' contact performance for legged robot. The mechanism is constructed with four-bar linkage actuated by contact reaction force and retracted by applied spring tension. A feasible mechanical design based on several essential parameters is introduced and an integrated Sole-Toe prototype is built for experimental evaluation. Mechanical self-adaption and actual contact performance on specific surface have been evaluated respectively on a biped walking platform and a bench-top mechanical testing.
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U2 - 10.1109/IROS.2016.7759378
DO - 10.1109/IROS.2016.7759378
M3 - Conference contribution
AN - SCOPUS:85006483225
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2425
EP - 2430
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -