{"title":"A Variable Stiffness Sole for Biped Robot and Its Experimental Verification","authors":"Junyeon Namgung, Yun-Ho Han, Baek-Kyu Cho","doi":"10.1115/1.4062650","DOIUrl":null,"url":null,"abstract":"Abstract The foot sole of the biped robot is an important factor for stable walking. In this study, the limitations of existing bipedal robot soles are introduced and the necessity for the development of a new sole mechanism is presented. Inspired by a robot sole based on the granular jamming effect, we have developed a variable stiffness sole (VSS), which adapts to the shape of obstacles on the ground in compliant mode and provides robust support in stiff mode. Finally, the performance of the VSS is verified by several experiments integrating the VSS with the real humanoid robot platform RoK-3. The experimental results verified that the VSS is advantageous in uneven terrain walking.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"3 1","pages":"0"},"PeriodicalIF":2.2000,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Mechanisms and Robotics-Transactions of the Asme","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1115/1.4062650","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0
Abstract
Abstract The foot sole of the biped robot is an important factor for stable walking. In this study, the limitations of existing bipedal robot soles are introduced and the necessity for the development of a new sole mechanism is presented. Inspired by a robot sole based on the granular jamming effect, we have developed a variable stiffness sole (VSS), which adapts to the shape of obstacles on the ground in compliant mode and provides robust support in stiff mode. Finally, the performance of the VSS is verified by several experiments integrating the VSS with the real humanoid robot platform RoK-3. The experimental results verified that the VSS is advantageous in uneven terrain walking.
期刊介绍：
Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.
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