Design and Optimization of Multi Contact Flexible Feet for Humanoid Robots

Abstract

Humanoid robots can traverse various terrains using a bipedal motion mode, thus possessing good mobility. In recent years, the application scenarios of humanoid robots have expanded to outdoor and even wild environments, where dynamic interactions with complex environments generate significant external impact forces, affecting the robot’s stable motion. This paper designs a flexible bionic foot, optimizing the elastic coefficient of the cushioning structure by constructing a multi-contact flexible dynamic model. Through simulations and experiments, compared with a flat foot, the flexible foot designed in this paper can effectively reduce external impact forces.