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http://dx.doi.org/10.5391/JKIIS.2012.22.3.347

Modeling and Analysis of Robotic Foot Mechanism Based on Truss Structure  

Kim, Byoung-Ho (경성대학교 메카트로닉스공학과 생체모방및지능로봇 연구실)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.22, no.3, 2012 , pp. 347-352 More about this Journal
Abstract
This paper presents a robotic foot mechanism based on truss structure for walking robots and analyzes its effectiveness for compliant walking. The specified foot mechanism has been modeled by observing the structure and behavior of human foot. The frame of bone used in the human foot is considered as a truss, and the ligaments of the human foot are represented as a simple stiffness element. So such a robotic foot has an advantage to moderate the impact of foot when a walking robot takes a step. As a result, it is practically expected that the proposed robotic foot mechanism can contribute to reduce the physical fatigue of walking robots.
Keywords
Robotic foot mechanism; Truss structure; Impact and fatigue; Walking robots;
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Times Cited By KSCI : 1  (Citation Analysis)
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