Experiment platform for development of humanoid robot foot control

Abstract

There is a growing interest towards humanoid robots. Our intention is to build and explore as much as possible, relatively simple elements of humanoid robots in order to gain a better understanding of their characteristics and possibilities of control. In this paper, an experiment platform of a sensored robot foot is presented. Our goal is to explore the control possibilities of this system, especially in compensating for sudden ground reaction force changes, ex. small obstacles in the ground plane or jump. In this paper, the results obtained by simulation are presented. © 2008 IEEE.