A Novel Human-Like Foot Structure with Toes for Biped Robot

抄録

This paper proposes a novel foot structure for a small biped robot using toes like a human foot to enhance its walking behaviour. This is to aim to make the robot gait more natural and more stable in the walking process. Besides, in this study, we also mention a new approach for generating the gait pattern of the biped robot by the approximated optimization method which applied the Differential Evolution algorithm (DE) to objective function approximated by Artificial Neural Networks (ANNs). To evaluate this method achievement, the biped robot was simulated by multi-body dynamics simulation software, ADAMS (MSC software, USA). The robot posture is comparable to the human in one cycle of the walking process. As a result, we confirmed the biped robot with the proposed foot structure can walk naturally. The approximated optimization method by DE algorithm and ANNs is an effective approach to generate a gait pattern for the humanoid robot. Moreover, this method is simpler than the conventional methods using Zero Moment Point (ZMP) criterion.