HTEC foot: A novel foot structure for humanoid robots combining static stability and dynamic adaptability

IF 5 Q1 ENGINEERING, MULTIDISCIPLINARY

Defence Technology(防务技术) Pub Date : 2025-02-01 DOI:10.1016/j.dt.2024.08.010

Jintao Zhang , Xuechao Chen , Zhangguo Yu , Lianqiang Han , Zhifa Gao , Qingrui Zhao , Gao Huang , Ke Li , Qiang Huang

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引用次数: 0

Abstract

Passive bionic feet, known for their human-like compliance, have garnered attention for their potential to achieve notable environmental adaptability. In this paper, a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid (REH) dynamics model. First, a bionic foot model, named the Hinge Tension Elastic Complex (HTEC) model, was developed by extracting key features from human feet. Furthermore, the kinematics and REH dynamics of the HTEC model were established. Based on the foot dynamics, a nonlinear optimization method for stiffness matching (NOSM) was designed. Finally, the HTEC-based foot was constructed and applied onto BHR-B2 humanoid robot. The foot static stability is achieved. The enhanced adaptability is observed as the robot traverses square steel, lawn, and cobblestone terrains. Through proposed design method and structure, the mobility of the humanoid robot is improved.

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HTEC足部：一种结合静态稳定性和动态适应性的新型仿人机器人足部结构

被动仿生脚以其与人类相似的顺应性而闻名，因其具有显著的环境适应性而受到关注。本文提出了一种利用刚弹性混合动力学模型统一被动仿生足静态支撑稳定性和动态地形适应性的方法。首先，通过提取人体足部的关键特征，建立了铰链张力弹性复合体（Hinge Tension Elastic Complex， HTEC）仿生足模型；建立了HTEC模型的运动学和REH动力学模型。基于足部动力学，设计了一种非线性刚度匹配优化方法。最后，构建了基于htec的足部，并将其应用于BHR-B2类人机器人。实现足部静稳定性。当机器人穿过方形钢，草坪和鹅卵石地形时，可以观察到增强的适应性。通过提出的设计方法和结构，提高了仿人机器人的机动性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Defence Technology(防务技术) Mechanical Engineering, Control and Systems Engineering, Industrial and Manufacturing Engineering

CiteScore

8.70

自引率

0.00%

发文量

728

审稿时长

25 days

期刊介绍： Defence Technology, a peer reviewed journal, is published monthly and aims to become the best international academic exchange platform for the research related to defence technology. It publishes original research papers having direct bearing on defence, with a balanced coverage on analytical, experimental, numerical simulation and applied investigations. It covers various disciplines of science, technology and engineering.