A Bioinspired Humanoid Foot Mechanism

This paper introduces an innovative robotic foot design inspired by the functionality and anatomy of human foot. Most humanoid robots are characterized flat, rigid feet with limited mobility, which cannot emulate physical behavior foot–ground interaction. The proposed mechanism consists three main bodies, to represent heel, plant, toes, connected compliant joints for improved balancing impact absorption. functional requirements were extracted from medical literature, acquired through a motion capture system, was validated numerical simulation.