Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Modeling and Analysis of a Biomimetic Foot Mechanism

생체모방 발 메커니즘의 모델링 및 해석

  • 서종태 (한양대학교 메카트로닉스공학과) ;
  • 이병주 (한양대학교 전자컴퓨터공학부)
  • Published : 2009.10.15
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Abstract

In these days, biomimetic apprioach in the design and control of robotic system has drawn much attention. The human-being and mammals possess their own feet. Using the mobility of their feet, they are able to walk in various environments such as plain land, desert, swamp, and so on. Previously developed biped robots and four-legged robots did not employ such adaptable foot. In this work, a biomimetic foot mechanism is investigated through analysis of the foot structure of the human-being. This foot mechanism consists of a toe, an ankle, a heel, and some springs replacing the foot muscles and tendons. Using five toes and springs, this foot can adapt to various environments. A mathematical modeling for this foot mechanism was performed and its characteristics were observed through numerical simulation.

Keywords

References

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