A bioinspired humanoid foot mechanism

Russo, Matteo; Chaparro-Rico, Betsy D. M.; Pavone, Luigi; Pasqua, Gabriele; Cafolla, Daniele

Abstract

© 2021 by the authors. Licensee MDPI, Basel, Switzerland. This paper introduces an innovative robotic foot design inspired by the functionality and the anatomy of the human foot. Most humanoid robots are characterized by flat, rigid feet with limited mobility, which cannot emulate the physical behavior of the foot-ground interaction. The proposed foot mechanism consists of three main bodies, to represent the heel, plant, and toes, connected by compliant joints for improved balancing and impact absorption. The functional requirements were extracted from medical literature, and were acquired through a motion capture system, and the proposed design was validated with a numerical simulation.

Citation

Russo, M., Chaparro-Rico, B. D. M., Pavone, L., Pasqua, G., & Cafolla, D. (2021). A bioinspired humanoid foot mechanism. Applied Sciences, 11(4), Article 1686. https://doi.org/10.3390/app11041686

• Journal Article Type: Article
• Acceptance Date: Feb 9, 2021
• Online Publication Date: Feb 13, 2021
• Publication Date: Feb 2, 2021
• Deposit Date: Feb 14, 2021
• Publicly Available Date: Feb 15, 2021
• Journal: Applied Sciences
• Electronic ISSN: 2076-3417
• Publisher: MDPI
• Peer Reviewed: Peer Reviewed
• Volume: 11
• Issue: 4
• Article Number: 1686
• DOI: https://doi.org/10.3390/app11041686
• Public URL: https://nottingham-repository.worktribe.com/output/5327873
• Publisher URL: https://www.mdpi.com/2076-3417/11/4/1686