Kinesiology-Based Robot Foot Design for Human-Like Walking

Foot design for a hexapod walking robot

This article describes the process of development of the robotic foot for the six-legged walking robot Messor. In order to allow the robot to negotiate uneven surfaces and to walk on a compliant ground, the foot includes the sensing device which provides information on contact forces between the foot and the ground. At first, the foot with single-axis force measurement unit is described. Next, ...

Foot Design for a Large Walking Delta Robot

A large Delta robot has been modified to pick up and place a triangular shaped foot. The robot pushes the foot down to lift the body and the three associated fixed support legs. It then moves the foot sideways so that the body moves in the opposite direction to a new position where the fixed legs are lowered to the ground and the foot lifted ready for a new placement. In this way the robot is a...

Concept and Design of the BioBiped1 Robot for Human-like Walking and Running

Biomechanics research shows that the ability of the human locomotor system depends on the functionality of a highly compliant motor system that enables a variety of different motions (like walking and running) and control paradigms (like flexible combination of feedforward and feedback control strategies) and reliance on stabilizing properties of compliant gaits. As a new approach of transferri...

Human-like Walking of Humanoid Robot Based on Biped Kinematics and Captured Motion of Human

Human-like walking for humanoid robot is still an open research topic. This article proposes a method to generate real human-like walking pattern for humanoid robot. As walking patterns generated by existing methods differ a lot from these of human, especially for the traditional walking pattern with knee bent and pelvis lower down with a constant height, we started from the modeling of kinemat...

Design for a Millimeter-Scale Walking Robot