Development of a foot mechanism for landing experiment

Seyoung Cheon, Yonghwan Oh, Young Hwan Chang, Youngpil Park

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

Abstract

For the stable landing of a humanoid walking, a humanoid foot needs to reduce an impact from the ground reaction force and does not cause ZMP variation when its foot is landing. To satisfy the above condition, this paper introduces the newly designed foot mechanism has an additional shock absorbing material and guided equipment which constrains translational direction. The ability of the proposed foot mechanism is shown as the experiment which is performed in landing leg platform. The landing leg platform provides the same landing effect and a variety of condition that a humanoid robot may be faced with various environments when the humanoid foot is landing. The two kinds of experiments are performed. One verifies the capability of additional shock absorbing material and the other shows the effect of the guided equipment.

Original languageEnglish (US)
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition1 PART 1
DOIs
StatePublished - Dec 1 2008
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: Jul 6 2008Jul 11 2008

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume17
ISSN (Print)1474-6670

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period7/6/087/11/08

Keywords

  • Networked robotic system modelling and control
  • Robotics technology
  • Robots manipulators

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Cheon, S., Oh, Y., Chang, Y. H., & Park, Y. (2008). Development of a foot mechanism for landing experiment. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 ed.). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.3915