期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
期号：6
页码：259
DOI：10.5772/54763
语种：English
出版社：SAGE Publications
摘要：Compared with the conventional flat foot, the flexible foot is advantageous in implementing human-like walking and much reduces energy consumption. In this paper, from an anatomical and kinesiological point of view, a flexible foot with toes and heels is investigated for a bipedal robot and three critical design parameters for walking stability are drawn, which include stiffness of toes and heels, frontal toe position, and ankle joint position. In addition, a human-like walking trajectory compatible with the flexible foot is proposed by mimicking a human walking pattern. First of all, the zero moment point (ZMP) trajectory continuously moves forward without stopping, even in the single support phase. Secondly, the centre of mass (CoM) trajectory includes vertical motion similar to that seen in human beings. Thirdly, the ankle trajectory follows the rotational motion of a human foot while being lifted from and landing on the ground. Through the simulation study, it is shown that the suggested design parameters can be applied as useful indices for the mechanical design of biped feet; interestingly, the vertical motion of the centre of mass tends to compensate for the transient response in the initial walking step.
Loading...
