人体の足裏外周縁接触圧分布計測装置を用いたロボット脚による模倣行動の実現

抄録

There is a way to utilize the human-like proportions of humanoid robots to mimic human behavior. In general, motion capture is used, but in this case, although it can capture the posture of the body links, it cannot capture detailed information about the feet. In this study, we developed a device to measure the contact pressure distribution at the outer edge of the foot and proposed an index called SS-COP which simply reflects the contact on the curved surface of the foot. In the experiment, we performed ground state mimicry and pedal operation on the ground to evaluate the posture change of the human foot and the robot foot.