IROS 2015 Paper Abstract


Paper ThAT9.4

Choi, Wooseok (Italian institute of Technology), Zhou, Chengxu (Fondazione Istituto Italiano di Tecnologia), Medrano-Cerda, Gustavo (Italian Institute of Technology), Caldwell, Darwin G. (Istituto Italiano di Tecnologia), Tsagarakis, Nikos (Istituto Italiano di Tecnologia)

A New Foot Sole Design for Humanoids Robots Based on Viscous Air Damping Mechanism

Scheduled for presentation during the Regular session "Legged Robots 1" (ThAT9), Thursday, October 1, 2015, 09:15−09:30, Saal B2

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Mechanism Design, Legged Robots, Robot Safety


The work presents the development and evaluation of a novel foot sole for humanoid robots. For humanoid locomotion the foot sole is important for absorbing impacts. In contrast to the simple planar rubber pad foot sole that is conventionally used in humanoid robots this paper introduces a new foot sole design in which the dissipation of energy during collision is done effectively using a viscous air damping sole mechanism that provides better reduction of the ground impact forces. The paper describes the principle of the foot sole and provides details of its design and implementation. Experimental trials were performed with the child size humanoid robot, COMAN, wearing the proposed feet to validate their performance during landing and walking. The results demonstrate that the proposed new passive damping mechanism can reduce effectively the ground reaction impact forces and oscillations while maintaining the foot/body posture.



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