Human mimetic foot structure with multi-DOFs and multi-sensors for musculoskeletal humanoid Kengoro
Yuki Asano, Shinsuke Nakashima, Toyotaka Kozuki, Soichi Ookubo, Iori Yanokura, Youhei Kakiuchi, Kei Okada, Masayuki Inaba
Abstract
We propose a human mimetic foot structure for musculoskeletal humanoids. We designed the foot structure by inspiring from human foot abilities of the multi-bone connected structure for flexibility and the distributed force sensor system. The foot has multi-DOFs structure including toe DOF that is composed of fingers. The distributed force sensing system is composed of 12 an-axis force sensors. In order to demonstrate those effectiveness, we implement the foot into musculoskeletal humanoid Kengoro and conduct several experiments. As a result, we confirmed effectiveness of the foot from tiptoe motion and balancing behavior by utilizing the foot characteristics.
BibTeX
@inproceedings{iros2016_humanmimeticfoot,
title = {Human mimetic foot structure with multi-DOFs and multi-sensors for musculoskeletal humanoid Kengoro},
author = {Yuki Asano and Shinsuke Nakashima and Toyotaka Kozuki and Soichi Ookubo and Iori Yanokura and Youhei Kakiuchi and Kei Okada and Masayuki Inaba},
booktitle = {IROS 2016},
year = {2016}
}