Design of Human-Like Leg-Foot for Human-Assisted Biped Walking

摘要

In order to meet the demand of a research platform for a Human-Assisted biped walking, the humanoid robot Loch has been developed. The mechanical design of Loch's lower body is presented in this paper. Loch has 16 DOFs in the lower body, which has 6 D.O.F in each leg, 1 D.O.F in each foot and 2 D.O.F in the waist. As a prototype for the purpose of research, the modular design of mechanism particularly for lower body is outlined. The modular design concept is implemented in order to meet the requirements of fast configuration and maintenance. Also, the actuator selection and mechanical design are presented in this paper in detail. The estimate of performance measure is included as well.