HTEC foot:A novel foot structure for humanoid robots combining static stability and dynamic adaptability  

作　　者：Jintao Zhang Xuechao Chen Zhangguo Yu Lianqiang Han Zhifa Gao Qingrui Zhao Gao Huang Ke Li Qiang Huang 

机构地区：[1]School of Mechatronical Engineering,Beijing Institute of Technology,No.5,South Street,Zhongguancun,Haidian District,Beijing,100081,China [2]Key Laboratory of Biomimetic Robots and Systems,Ministry of Education,No.5,South Street,Zhongguancun,Haidian District,Beijing,100081,China [3]School of Information Science and Technology,Beijing University of Technology,No.100,Pingleyuan,Chaoyang District,Beijing,100124,China [4]Innovation Center for Control Actuators,Beijing Institute of Precision Mechatronics and Controls,Donggaodi,Fengtai District,Beijing,100076,China

出　　处：《Defence Technology(防务技术)》2025年第2期30-51,共22页Defence Technology

基　　金：supported by the National Natural Science Foundation of China(Grant No.62073041);the Open Fund of Laboratory of Aerospace Servo Actuation and Transmission(Grant No.LASAT-2023A04);the Fundamental Research Funds for the Central Universities(Grant Nos.2024CX06011,2024CX06079)。

摘　　要：Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics model.First,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human feet.Furthermore,the kinematics and REH dynamics of the HTEC model were established.Based on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was designed.Finally,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid robot.The foot static stability is achieved.The enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone terrains.Through proposed design method and structure,the mobility of the humanoid robot is improved.

关 键 词：Humanoid robot Bionic structure Passive foot structure Rigid-elastic hybrid dynamics model Optimal stiffness matching 

分 类 号：TP1[自动化与计算机技术—控制理论与控制工程]