biomimetic(생체모방); foot design(발 설계); toe(발가락); spring mechanism(스프링 메커니즘)
Issue Date
2009-10
Publisher
한국생산제조학회
Citation
한국생산제조학회지, v. 18, NO. 5, Page. 521-528
Abstract
In these days, biomimetic apprioach in the design and control of robotic system has drawn much attention. The human-being and mammals possess their own feet. Using the mobility of their feet, they are able to walk in various environments such as plain land, desert, swamp, and so on. Previously developed biped robots and four-legged robots did not employ such adaptable foot. In this work, a biomimetic foot mechanism is investigated through analysis of the foot structure of the human-being. This foot mechanism consists of a toe, an ankle, a heel, and some springs replacing the foot muscles and tendons. Using five toes and springs, this foot can adapt to various environments. A mathematical modeling for this foot mechanism was performed and its characteristics were observed through numerical simulation.