Choi, W, Zhou, C orcid.org/0000-0002-6677-0855, Medrano-Cerda, GA et al. (2 more authors) (2015) A new foot sole design for humanoids robots based on viscous air damping mechanism. In: Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IROS 2015 - Gateway to the Era of Robots, 28 Sep - 02 Oct 2015, Hamburg, Germany. IEEE , pp. 4498-4503. ISBN 978-1-4799-9994-1
Abstract
The work presents the development and evaluation of a novel foot sole for humanoid robots. For humanoid locomotion the foot sole is important for absorbing impacts. In contrast to the simple planar rubber pad foot sole that is conventionally used in humanoid robots this paper introduces a new foot sole design in which the dissipation of energy during collision is done effectively using a viscous air damping sole mechanism that provides better reduction of the ground impact forces. The paper describes the principle of the foot sole and provides details of its design and implementation. Experimental trials were performed with the child size humanoid robot, COMAN, wearing the proposed feet to validate their performance during landing and walking. The results demonstrate that the proposed new passive damping mechanism can reduce effectively the ground reaction impact forces and oscillations while maintaining the foot/body posture.
Metadata
Item Type: | Proceedings Paper |
---|---|
Authors/Creators: |
|
Keywords: | Foot; Damping; Atmospheric modeling; Numerical models; Rubber; Force; Mathematical model |
Dates: |
|
Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 15 Jul 2019 15:53 |
Last Modified: | 15 Jul 2019 15:53 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/IROS.2015.7354016 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:144470 |