The experimental investigation of foot slip-turning motion of the musculoskeletal robot on toe joints

Frontiers in Robotics and AI

Robotics and AI

Koh Hosoda¹  Takumi Kawasetsu¹  Kawinna Nipatphonsakun² 

[1] Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Osaka, Japan;null;

关键词: musculoskeletal robot;    robot locomotion;    slip-turning;    toe joint;    foot structure;    foot contact area;   

DOI  :  10.3389/frobt.2023.1187297

 received in 2023-03-15, accepted in 2023-08-07,  发布年份 2023

来源: Frontiers

【 摘 要 】

Owing to their complex structural design and control system, musculoskeletal robots struggle to execute complicated tasks such as turning with their limited range of motion. This study investigates the utilization of passive toe joints in the foot slip-turning motion of a musculoskeletal robot to turn on its toes with minimum movements to reach the desired angle while increasing the turning angle and its range of mobility. The different conditions of plantar intrinsic muscles (PIM) were also studied in the experiment to investigate the effect of actively controlling the stiffness of toe joints. The results show that the usage of toe joints reduced frictional torque and improved rotational angle. Meanwhile, the results of the toe-lifting angle show that the usage of PIM could contribute to preventing over-dorsiflexion of toes and possibly improving postural stability. Lastly, the results of ground reaction force show that the foot with different stiffness can affect the curve pattern. These findings contribute to the implementations of biological features and utilize them in bipedal robots to simplify their motions, and improve adaptability, regardless of their complex structure.

【 授权许可】

Unknown   
Copyright © 2023 Nipatphonsakun, Kawasetsu and Hosoda.