Abstract
Mechanical design of feet for humanoid robot is described to be used with planning and control strategy to overcome issues on uneven terrain walking. The gait planning and control method are explained briefly in this paper, while the foot mechanism design to complement the control algorithm is presented with full details. The design limitations and specifications are reported and the design criteria cum selection of mechanical components are closely examined. Important functions like obstacle detection and shock absorption are included in the design with low cost approach. The 3D drawing of final assembly and finished prototype are included.
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Toh, C.K., Xie, M., Yang, H., Zhang, G., Bui, Q.P., Tian, B. (2010). Flexible Foot Design for Biped Walking on Uneven Terrain. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6424. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16584-9_43
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DOI: https://doi.org/10.1007/978-3-642-16584-9_43
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