A study of foot structure for humanoid robot on rough terrain

Van Tinh Nguyen, Hiroshi Hasegawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a foot structure for humanoid robot locomotion on rough ground called an adaptive foot which is a novel structure proposed in our previous study when considering the robot locomotion on flat ground. Realizing stable walking on rough ground is essential, because humanoid robots are expected to assist humans in not only a flat known domestic environment but also on rough ground surfaces with terrain variances while maintaining their tasks. The mentioned foot structure equips the robot with a good adaption. It enables the foot to increase the contact points and improve the stability on complex surface. Moreover, this structure also reduces the effect of impact force on the robot foot at toe off period in the walking. In this study, a gait pattern is generated by an approximated optimization method based on Response Surface Model (RSM) and Improved Self-Adaptive Differential Evolution Algorithm (ISADE). The result is experimentally validated through dynamic simulation on Adams (MSC software, USA) with the Kondo robot.

Original languageEnglish
Title of host publication17th International Conference on Modeling and Applied Simulation, MAS 2018
EditorsFrancesco Longo, Agostino G. Bruzzone, Fabio De Felice, Marina Massei, Francesco Longo, Adriano Solis, Claudia Frydman, Marina Massei
PublisherDime University of Genoa
Pages61-67
Number of pages7
ISBN (Electronic)9788885741096
Publication statusPublished - 2018 Jan 1
Event17th International Conference on Modeling and Applied Simulation, MAS 2018 - Budapest, Hungary
Duration: 2018 Sep 172018 Sep 19

Other

Other17th International Conference on Modeling and Applied Simulation, MAS 2018
CountryHungary
CityBudapest
Period18/9/1718/9/19

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Keywords

  • Foot structure
  • Gait pattern
  • Humanoid robot
  • Optimization
  • Rough ground

ASJC Scopus subject areas

  • Modelling and Simulation

Cite this

Nguyen, V. T., & Hasegawa, H. (2018). A study of foot structure for humanoid robot on rough terrain. In F. Longo, A. G. Bruzzone, F. De Felice, M. Massei, F. Longo, A. Solis, C. Frydman, ... M. Massei (Eds.), 17th International Conference on Modeling and Applied Simulation, MAS 2018 (pp. 61-67). Dime University of Genoa.