Flexible Foot Design for Biped Walking on Uneven Terrain

  • Chen Koon Toh
  • Ming Xie
  • Hejin Yang
  • Guoqing Zhang
  • Quoc Phuong Bui
  • Bo Tian
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6424)

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.

Keywords

Humanoid Robot Flexible Foot Biped Walking Uneven Terrain 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Chen Koon Toh
    • 1
  • Ming Xie
    • 1
  • Hejin Yang
    • 1
  • Guoqing Zhang
    • 1
  • Quoc Phuong Bui
    • 1
  • Bo Tian
    • 1
  1. 1.School of Mechanical and Aerospace EngineeringNanyang Technological UniversitySingapore

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