Designing the test feet of the humanoid robot M-Series

Lukac, Dusko; Siedel, Torsten; Benckendorff, Christian

doi:10.1109/icat.2009.5348426

Cited by 4 publications

(3 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To improve the rolling characteristics and increase the step length, some robots include a toe joint with passive stiffness in the flat foot design. For example, the foot of the humanoid M-Series [32], H6 [33], H7 [34], COMAN [35], and cCub [36] are designed for these characteristics. The humanoid robot LOLA [37] comprises a similar design with an active toe joint that allows the leg swing to be in a more extended configuration.…”

Section: State Of the Artmentioning

confidence: 99%

Design Guidelines for Bioinspired Adaptive Foot for Stable Interaction With the Environment

Ranjan,

Angelini,

Nanayakkara

et al. 2024

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

Robotic exploration in natural environments requires adaptable, resilient, and stable interactions with uncertain terrains. Most state-of-the-art legged robots utilize flat or ball feet that lack adaptability and are prone to slip due to point contact with the ground. In this article, we present guidelines to design an adaptive foot that can interact with the terrain to achieve a stable configuration. The foot is inspired by goat hoof anatomy that incorporates roll and yaw rotations in the Fetlock and Pastern joints, respectively. To ensure adaptability with stability in physical interaction and to prevent the foot from collapsing, we provide a lower bound on each joint's stiffness. In addition, we also render an upper bound to conform to the high force exchange during interactions with the ground consisting of certain roughness. Based on these guidelines, we design the hoof and experimentally validate the theoretical results with a loading test setup in lab settings. We use four different friction materials with various triangular, rectangular, and semicircular extrusions to simulate common ground features. We observe that hooved pads require more load for the system to be unstable. Any anatomically inspired foot can be designed based on the guidelines proved analytically and experimentally in this article.

show abstract

Section: State Of the Artmentioning

confidence: 99%

Design Guidelines for Bioinspired Adaptive Foot for Stable Interaction With the Environment

Ranjan,

Angelini,

Nanayakkara

et al. 2024

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

show abstract

“…5 depicted by squares [16] and triangles [17] for short exposures and by circles for long exposures [4]. Additionally, although not used for the fit, a published thermal damage data point for the endodontic pathogen Enterococcus faecalis bacteria exposed to a t in = 25 ms laser pulse is also shown (represented by the diamond) [18,32].…”

Section: Variable Heat Shock Model Coefficientsmentioning

confidence: 99%

Variable heat shock response model for medical laser procedures

et al. 2019

View full text Add to dashboard Cite

According to the standard Arrhenius relation, tissue damage is linearly dependent on the duration of exposure to elevated temperatures and exponentially dependent on the temperature itself. However, recently published measurements of damage threshold temperatures at extremely short exposure times (commonly present during laser treatments) exhibit a shift to temperatures that are higher than what would normally be expected from a single-process Arrhenius model. A novel variable heat shock (VHS) response model was developed that takes into account the observed deviation from the single-process Arrhenius relation, by assuming that the cell viability can be described as the combined effect of two biochemical processes that dominate cell survival characteristics at very short and very long exposure times. The potential implications of the VHS model are explored theoretically through an example of non-ablative laser resurfacing. The VHS model shows that under the appropriate conditions, very high temperature heat shocks can be generated within the superficial epithelium tissue layer without causing irreversible tissue damage. A mechanism of action for tissue regeneration by means of non-ablative resurfacing with the Er:YAG laser is proposed, which involves indirect triggering of tissue regeneration through intense heat shock to the epithelia, in addition to the tissue regeneration mechanism by means of direct thermal injury to deeper lying connective tissues.

show abstract

“…Some robotic foot systems were designed by adding toe joints and elastic elements to the simple rigid flat foot [19][20][21][22][23]. Segmented to the heel part and toe part, human-like heel contact and toe contact were realized in bipedal robotic walking [20].…”

Section: Introductionmentioning

confidence: 99%

Design and Experimental Development of a Pneumatic Stiffness Adjustable Foot System for Biped Robots Adaptable to Bumps on the Ground

Zang

Liu

et al. 2017

Applied Sciences

View full text Add to dashboard Cite

Walking on rough terrains still remains a challenge that needs to be addressed for biped robots because the unevenness on the ground can easily disrupt the walking stability. This paper proposes a novel foot system with passively adjustable stiffness for biped robots which is adaptable to small-sized bumps on the ground. The robotic foot is developed by attaching eight pneumatic variable stiffness units to the sole separately and symmetrically. Each variable stiffness unit mainly consists of a pneumatic bladder and a mechanical reversing valve. When walking on rough ground, the pneumatic bladders in contact with bumps are compressed, and the corresponding reversing valves are triggered to expel out the air, enabling the pneumatic bladders to adapt to the bumps with low stiffness; while the other pneumatic bladders remain rigid and maintain stable contact with the ground, providing support to the biped robot. The performances of the proposed foot system, including the variable stiffness mechanism, the adaptability on the bumps of different heights, and the application on a biped robot prototype are demonstrated by various experiments.

show abstract

Designing the test feet of the humanoid robot M-Series

Cited by 4 publications

References 3 publications

Design Guidelines for Bioinspired Adaptive Foot for Stable Interaction With the Environment

Design Guidelines for Bioinspired Adaptive Foot for Stable Interaction With the Environment

Variable heat shock response model for medical laser procedures

Design and Experimental Development of a Pneumatic Stiffness Adjustable Foot System for Biped Robots Adaptable to Bumps on the Ground

Contact Info

Product

Resources

About