Team DRC-Hubo@UNLV in 2015 DARPA Robotics Challenge Finals

Oh, Paul; Sohn, Kiwon; Jang, Gunhee; Jun, Youngbum; Ahn, Dongchan; Shin, Juseong; Cho, Baek-Kyu

doi:10.1007/978-3-319-74666-1_9

Cited by 3 publications

(1 citation statement)

References 35 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In addition, it does not require additional trajectory planning of the foot and is highly versatile. Prominent examples of legged robots are Asimo from Honda [ 4 ], H7 from Tokyo University, HRP-2 from AIST and Kawada Industries, the first running biped QRIO from Sony, Wabian-2R from Waseda University [ 5 ], LOLA from Ludwig Maximilians University [ 11 , 14 ], and the Korean robot HUBO from KAIST [ 3 , 15 , 16 ].…”

Section: Introductionmentioning

confidence: 99%

Design of a Felid-like Humanoid Foot for Stability Enhancement

Cai

Chen

et al. 2022

Biomimetics

View full text Add to dashboard Cite

The foot is an important part of humanoid robot locomotion that can help with shock absorption while making contact with the ground. The mechanism of the foot directly affects walking stability. A novel foot mechanism inspired by the toes of felids is proposed. The foot has four bionic modules with soft pads and sharp claws installed at the four corners of a flat foot. This foot can reduce the impact experienced during foot landing and increase the time that the foot is in contact with the ground, which can improve the adaptability of the robot to different ground surface conditions with different levels of stiffness. The main structure of the bionic module is a four-bar linkage consisting of a slide way and a spring. Furthermore, the length of the four-bar linkage and the posture of the claw during insertion into soft ground are optimized to improve the stability and buffering performance. The validity of the proposed foot mechanism has been proved in simulations.

show abstract