Human mimetic foot structure with multi-DOFs and multi-sensors for musculoskeletal humanoid Kengoro

Asano, Yuki; Nakashima, Shinsuke; Kozuki, Toyotaka; Ookubo, Soichi; Yanokura, Iori; Kakiuchi, Youhei; Okada, Kei; Inaba, Masayuki

doi:10.1109/iros.2016.7759377

Cited by 12 publications

(21 citation statements)

References 7 publications

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“…2 shows the feet of these categories. Finally, few robotic feet are designed with a more complex structure [52][53][54][55][56][57][58][59], or with soft structures [60][61][62][63][64]. Fig.…”

Section: Structurementioning

confidence: 99%

“…The feet of HRP-4C [48], of UT-µ2 [44], of ARMAR-4 [49], and of BIPMAN [45] were developed with an active toe joint to realize human-like walking motions. SoftFoot [64], Kengoro's foot [60][61][62], Yalamanchili et al structure [57] and Yoon et al foot [58] aim at reproducing the flexibility of the human foot by using multiple joints. The second most common goal of the feet are to allow stability and adaptability when walking on uneven terrains [5-9, 13, 17, 18, 46, 47].…”

Section: Controlmentioning

confidence: 99%

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Humanoids’ Feet: State-of-the-Art & Future Directions

Frizza

Ayusawa²,

Cherubini

et al. 2022

Int. J. Human. Robot.

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Robotic feet play a fundamental role in the walking performance of a biped robot. Feet are essential to maintain dynamic stability and to propel the body during walking. They may ensure stability on uneven terrains. Yet, complex feet are seldom used on humanoids. This paper surveys 36 types of robotic feet we found in the literature. We classified them according to strategy, capabilities, structure, number of degrees of freedom, actuation method of ankle and foot, type of actuator, sensorization and type of control. Subsequently, we analyzed the dynamic and static models of flexible feet. We discussed considerations on foot dynamics or kinematics in the robot’s whole body control system. We analyzed both active joints control for feet including actuated joints, and control for feet with elastic elements (for example, a rubber layer in the sole). Finally, we present some limitations of robotic feet and possible future developments.

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Section: Structurementioning

confidence: 99%

Section: Controlmentioning

confidence: 99%

Humanoids’ Feet: State-of-the-Art & Future Directions

Frizza

Ayusawa²,

Cherubini

et al. 2022

Int. J. Human. Robot.

View full text Add to dashboard Cite

show abstract

“…On this basis, Kengoro was equipped with human mimetic five-fingered hands and feet. The foot has multi-DOFs and multisensors to facilitate natural adaptation to the ground (40). The toe actuation was powerful enough to perform tip-toe standing with support by hands for balancing.…”

Section: Development Of Kengoromentioning

confidence: 99%

Design principles of a human mimetic humanoid: Humanoid platform to study human intelligence and internal body system

2017

Self Cite

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Many systems and mechanisms in the human body are not fully understood, such as the principles of muscle control, the sensory nervous system that connects the brain and the body, learning in the brain, and the human walking motion. To address this knowledge deficit, we propose a human mimetic humanoid with an unprecedented degree of anatomical fidelity to the human musculoskeletal structure. The fundamental concept underlying our design is to consider the human mechanism, which contrasts with the conventional engineering approach used in the design of existing humanoids. We believe that the proposed human mimetic humanoid can be used to provide new opportunities in science, for instance, to quantitatively analyze the internal data of a human body in movement. We describe the principles and development of human mimetic humanoids, Kenshiro and Kengoro, and compare their anatomical fidelity with humans in terms of body proportions, skeletal structures, muscle arrangement, and joint performance. To demonstrate the potential of human mimetic humanoids, Kenshiro and Kengoro performed several typical human motions.

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“…A number of robots that can imitate this musculoskeletal structure have recently been investigated. Marques et al ( Marques et al, 2010 ) developed a human coexistence robot that imitates the musculoskeletal structure, while a research group including Inaba ( Mizuuchi et al, 2006 ; Asano et al, 2016 ) developed another musculoskeletal structure-imitating humanoid robot. Verrelst et al ( Verrelst et al, 2005 ) developed a biped robot actuated with antagonistic pneumatic artificial muscles.…”

Section: Introductionmentioning

confidence: 99%

Simulation Evaluation for Methods Used to Determine Muscular Internal Force Based on Joint Stiffness Using Muscular Internal Force Feedforward Controller for Musculoskeletal System

2021

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This study proposes two novel methods for determining the muscular internal force (MIF) based on joint stiffness, using an MIF feedforward controller for the musculoskeletal system. The controller was developed in a previous study, where we found that it could be applied to achieve any desired end-point position without the use of sensors, by providing the MIF as a feedforward input to individual muscles. However, achieving motion with good response and low stiffness using the system, posed a challenge. Furthermore, the controller was subject to an ill-posed problem, where the input could not be uniquely determined. We propose two methods to improve the control performance of this controller. The first method involves determining a MIF that can independently control the response and stiffness at a desired position, and the second method involves the definition of an arbitrary vector that describes the stiffnesses at the initial and desired positions to uniquely determine the MIF balance at each position. The numerical simulation results reported in this study demonstrate the effectiveness of both proposed methods.

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Human mimetic foot structure with multi-DOFs and multi-sensors for musculoskeletal humanoid Kengoro

Cited by 12 publications

References 7 publications

Humanoids’ Feet: State-of-the-Art & Future Directions

Humanoids’ Feet: State-of-the-Art & Future Directions

Design principles of a human mimetic humanoid: Humanoid platform to study human intelligence and internal body system

Simulation Evaluation for Methods Used to Determine Muscular Internal Force Based on Joint Stiffness Using Muscular Internal Force Feedforward Controller for Musculoskeletal System

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