Foot design for a hexapod walking robot

摘要

This article describes the process of development of the robotic foot for the six-legged walking robot Messor. In order to allow the robot to negotiate uneven surfaces and to walk on a compliant ground, the foot includes the sensing device which provides information on contact forces between the foot and the ground. At first, the foot with single-axis force measurement unit is described. Next, design of the tri-axial sensing device is shown. Knowledge gathered during development of the single-axis device was transferred to build a new foot with extended capabilities. In the article description of the manufactured real devices is given.