Distributed Haptic System for the High-load Anthropomimetic Foot of Life-sized Musculoskeletal Humanoid

Abstract

In this paper, we present a distributed haptic system for high-load anthropomimetic feet of the musculoskeletal humanoid “Kengoro”. It features large load-bearing capacity with the multi-DOF structure of the foot. To achieve this, we had three design challenges. First, each GRF sensing unit with biomimetic thick foot rubber can acquire great reaction force via moment. In addition, we developed minimal multi-sensor circuit board that collect signals of 12 loadcell simultaneously. Futhermore, we arranged the units on the foot in a bio-inspired manner. We show high load capacity of the system with experiments including single-unit test and landing by life-sized musculoskeletal leg with the developed haptic system.