Design of multi-segment humanoid robot foot

Abstract

Most of today's humanoid robots are equipped with flat one segment feet. Only few of them have two-segment feet. Two-segment feet can be realized either with passive or active toe joint. Purpose of development of more complex robotic foot is to enable humanoid robots to walk in more natural way. In this paper will be described basic design of multi-segment humanoid foot, currently under development at the Faculty of Technical Sciences, University of Novi Sad. Paper gives short overview of human foot anatomy, and then, robotic foot design characteristics including actuation and sensing. © 2009 Springer-Verlag.