Research and Design of a Humanoid Cushioning Foot for Robot Jumping

Chuanku Yi, Xuechao Chen, Zhangguo Yu, Haoxiang Qi, Qiang Huang
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引用次数: 1

Abstract

A novel structure of humanoid foot is proposed in this paper to reduce the impact force and absorb the oscillation of the jumping robot landing. Referring to the structure of the human foot, a humanoid foot with bionic bones and joints was designed. The dynamic model of the structure of the humanoid foot was established for quantitative simulation and optimization of the parameters. The entity of the new foot was processed. Then, landing impact experiments were carried out to compare the impact force absorbing ability of different parts of the foot and other feet under the same conditions. Finally, the humanoid foot was installed on the robot ATHLETE to test the foot's performance indicators in the case of actual robot landing. This proved that the new foot can reduce the impact force and absorb oscillation better than the rubber pad foot.
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机器人跳跃类人缓冲足的研究与设计
本文提出了一种新型的仿人足结构,以减小机器人跳跃着地时的冲击力和吸收振动。参考人足的结构,设计了具有仿生骨骼和关节的类人足。建立了仿人足结构的动力学模型,并对其参数进行了定量仿真和优化。对新足的实体进行处理。然后进行落地冲击实验,比较相同条件下足部不同部位和其他足部的吸冲击力能力。最后,在ATHLETE机器人上安装仿人足,测试机器人实际落地情况下仿人足的各项性能指标。实验结果表明,新型垫脚比橡胶垫脚能更好地减小冲击力和吸收振动。
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