The design of an anthropomorphic dexterous humanoid foot

摘要

The human foot serves three main functions; adapts to contours of ground, absorbs shock impacts and stores and releases energy. Despite significant development of humanoid robots the foot has seen little research and as a result most bipeds do not walk in a humanlike manner. In this work a study of the human foot is conducted to determine how each of these is achieved. The paper then describes the design, construction and testing of a fully articulated humanoid foot which has the same functionality as the human foot.