Design of Robot Foot with Outer Edge Measurement Structure and Chair Rotation Motion by Friction Control

Currently, humanoids have fewer variations of leg movements than humans. For humanoids to realize large leg movements like humans, the foot is important because it is the part of the body that makes contact with the ground. In this study, we focused on the outer edge of the foot, which has not been paid attention to so much, and developed a robot foot with an outer edge measurement structure equipped with one-axis force sensors on the bottom and sides. By using this structure and the attitude of the foot to control the measured frictional force, we have made it possible to perform a large rotational motion in a chair seated state, which requires the use of the outer edge of the foot.