The Design of an Anthropomorphic Dexterous Humanoid Foot

被引:29
作者
Davis, S. [1 ]
Caldwell, Darwin G. [1 ]
机构
[1] Italian Inst Technol, Fdn Ist Italiano Tecnol, I-16163 Genoa, Italy
来源
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年
关键词
D O I
10.1109/IROS.2010.5649756
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
The human foot serves three main functions; adapts to contours of ground, absorbs shock impacts and stores and releases energy. Despite significant development of humanoid robots the foot has seen little research and as a result most bipeds do not walk in a humanlike manner. In this work a study of the human foot is conducted to determine how each of these is achieved. The paper then describes the design, construction and testing of a fully articulated humanoid foot which has the same functionality as the human foot.
引用
收藏
页码:2200 / 2205
页数:6
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