Research and Design of a Humanoid Cushioning Foot for Robot Jumping

Abstract

A novel structure of humanoid foot is proposed in this paper to reduce the impact force and absorb the oscillation of the jumping robot landing. Referring to the structure of the human foot, a humanoid foot with bionic bones and joints was designed. The dynamic model of the structure of the humanoid foot was established for quantitative simulation and optimization of the parameters. The entity of the new foot was processed. Then, landing impact experiments were carried out to compare the impact force absorbing ability of different parts of the foot and other feet under the same conditions. Finally, the humanoid foot was installed on the robot ATHLETE to test the foot's performance indicators in the case of actual robot landing. This proved that the new foot can reduce the impact force and absorb oscillation better than the rubber pad foot.