Development of a flexible foot mechanism based on topology optimization for walking on rough terrain

Abstract

To improve stability when walking on rough ground, a flexible foot mechanism was designed based on the geometry obtained through topology optimization. The foot is equipped with springs, dampers, and plate springs to follow the ground and reduce the effect of rough ground. Analysis and testing on the actual product confirmed the reduction of inclination in several rough terrain patterns and demonstrated the foot's ability to reduce reaction forces from rough ground.