Walking behaviour of the humanoid robot depends on many parameters of body structure, in which, the foot structure is one of the most important factors since it directly interacts with the environment in the locomotion. In this paper, joint characteristics of the robot’s foot have been investigated for our further understanding of biped motion. These properties are stiffness and damping factor of spring of passive toe joints. The subject of this paper is a small humanoid robot named Kondo KHR-3HV belonging to the Kondo Kagaku company. The foot structure of the robot consists of a big toe and a tiptoe with passive joints using torsion spring. The effect of the structure property is collected and evaluated through dynamic simulation on Adams and analysis of variance (ANOVA).
The target of this research is to enhance of convergence speed of proportional topology optimization process since it usually spends much computational cost to reach the achievement. Conventionally, proportional topology optimization (PTO) is a non-sensitivity technique, in which, the material distribution is gradually optimized by certain amount of material at each iteration through the relationship between current maximum stress and allowable stress. This is a reason that PTO method took a long time to reach the optimal layout. This paper deploys an adaptive material amount to improve this point. The cantilever with fixed hole is used to validate the effectiveness of the new method. The result shows that the proposed technique provided a significant improvement on the performance of proportional optimization algorithm.
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