Abstract
The complex of human foot plays an important role in the locomotion. Properly replicating the human foot characteristics on the humanoid robot foot design is supposed to improve the robot locomotion performance. In this research, we proposed three kinds of foot design, stiff foot, the windlass mechanism foot (with stiff plantar fascia) and the windlass mechanism foot (with elastic plantar fascia). Using a musculoskeletal biped robot and via a large set of dropping jump experiments, we confirmed that (1) the robot could achieve toe-off motion in the lifting off phase of jumping and (2) the windlass mechanism could increase the jumping height. This investigation on robot foot is expected to both improve the humanoid robot jumping performance and help us understanding how human achieve high performance locomotion.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Kwon, S., Park, J.: Kinesiology-based robot foot design for human-like walking. Int. J. Adv. Robot. Syst. 9 (2012)
Ogura, Y., Shimomura, K., Kondo, H., Morishima, A., Okubo, T., Momoki, S., Lim, H.-O., Takanishi, A.: Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3976–3981. IEEE (2006)
Minakata, H., Seki, H., Tadakuma, S.: A study of energy-saving shoes for robot considering lateral plane motion. IEEE Trans. Ind. Electron. 55(3), 1271–1276 (2008)
Hashimoto, K., Yoshimura, Y., Kondo, H., Lim, H.-O., Takanishi, A.: Realization of quick turn of biped humanoid robot by using slipping motion with both feet. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 2041–2046. IEEE (2011)
Sellaouti, R., Stasse, O., Kajita, S., Yokoi, K., Kheddar, A.: Faster and smoother walking of humanoid hrp-2 with passive toe joints. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4909–4914. IEEE (2006)
Kajita, S., Kaneko, K., Morisawa, M., Nakaoka, S., Hirukawa, H.: Zmp-based biped running enhanced by toe springs. In: 2007 IEEE International Conference on Robotics and Automation, pp. 3963–3969. IEEE (2007)
Raibert, M.H.: Legged Robots That Balance. MIT press (1986)
Gefen, A.: Stress analysis of the standing foot following surgical plantar fascia release. J. Biomech. 35(5), 629–637 (2002)
Gefen, A.: The in vivo elastic properties of the plantar fascia during the contact phase of walking. Foot Ankle Int. 24(3), 238–244 (2003)
Stainsby, G.: Pathological anatomy and dynamic effect of the displaced plantar plate and the importance of the integrity of the plantar plate-deep transverse metatarsal ligament tie-bar. Ann. R. Coll. Surg. Engl. 79(1), 58 (1997)
Hamel, A.J., Donahue, S.W., Sharkey, N.A.: Contributions of active and passive toe flexion to forefoot loading. Clin. Orthop. Relat. Res. 393, 326–334 (2001)
Abbott, B., Bigland, B., Ritchie, J.: The physiological cost of negative work. J. Physiol. 117(3), 380–390 (1952)
Niiyama, R., Kuniyoshi, Y.: Design principle based on maximum output force profile for a musculoskeletal robot. Ind. Robot Int. J. 37(3), 250–255 (2010)
Hosoda, K., Sakaguchi, Y., Takayama, H., Takuma, T.: Pneumatic-driven jumping robot with anthropomorphic muscular skeleton structure. Auton. Robots 28(3), 307–316 (2010)
Fujii, F., Murata, H., Hirose, Y., Okada, T.: A simple phenomenological modeling of mckibben pneumatic actuator and its application to control. In: 2013 IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp. 4724–4730. IEEE (2013)
Wickiewicz, T.L., Roy, R.R., Powell, P.L., Edgerton, V.R.: Muscle architecture of the human lower limb. Clinical Orthop. Relat. Res. 179, 275–283 (1983)
Friederich, J.A., Brand, R.A.: Muscle fiber architecture in the human lower limb. J. Biomech. 23(1), 91–95 (1990)
Hoy, M.G., Zajac, F.E., Gordon, M.E.: A musculoskeletal model of the human lower extremity: the effect of muscle, tendon, and moment arm on the moment-angle relationship of musculotendon actuators at the hip, knee, and ankle. J. Biomech. 23(2), 157–169 (1990)
Paul, C., Bellotti, M., Jezernik, S., Curt, A.: Development of a human neuro-musculo-skeletal model for investigation of spinal cord injury. Biol. Cybern. 93(3), 153–170 (2005)
van Ingen Schenau, G.J., Pratt, C.A., Macpherson, J.M.: Differential use and control of mono-and biarticular muscles. Hum. Mov. Sci. 13(3), 495–517 (1994)
Bobbert, M.F., van Ingen Schenau, G.J.: Coordination in vertical jumping. J. Biomech. 21(3), 249–262 (1988)
Pandy, M.G., Zajac, F.E.: Optimal muscular coordination strategies for jumping. J. Biomech. 24(1), 1–10 (1991)
Farley, C.T., Morgenroth, D.C.: Leg stiffness primarily depends on ankle stiffness during human hopping. J. Biomech. 32(3), 267–273 (1999)
Funase, K., Higashi, T., Sakakibara, A., Imanaka, K., Nishihira, Y., Miles, T.: Patterns of muscle activation in human hopping. Eur. J. Appl. Physiol. 84(6), 503–509 (2001)
Auyang, A.G., Yen, J.T., Chang, Y.-H.: Neuromechanical stabilization of leg length and orientation through interjoint compensation during human hopping. Exp. Brain Res. 192(2), 253–264 (2009)
Voigt, M., Dyhre-Poulsen, P., Simonsen, E.B.: Modulation of short latency stretch reflexes during human hopping. Acta Physiol. Scand. 163(2), 181–194 (1998)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Liu, X., Duan, Y., Rosendo, A., Ikemoto, S., Hosoda, K. (2017). Higher Jumping of a Biped Musculoskeletal Robot with Foot Windlass Mechanism. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_25
Download citation
DOI: https://doi.org/10.1007/978-3-319-48036-7_25
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-48035-0
Online ISBN: 978-3-319-48036-7
eBook Packages: EngineeringEngineering (R0)