Open AccessConcept of biomimetic mechanical foot based on muscle simulation
Author(s) -
Chaoyue Jin,
Jialuan Xiao,
Chuqi Cao
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1885/4/042017
Subject(s) - mechanical system , computer science , acceleration , biped robot , robot , matrix (chemical analysis) , plantar flexion , simulation , motion (physics) , control theory (sociology) , artificial intelligence , materials science , control (management) , physics , ankle , composite material , medicine , classical mechanics , pathology
An concept of biomimetic mechanical foot based on muscle simulation is proposed to solve the problems of biped robots, such as unstable motion and inability to start at a high acceleration. Firstly, the human plantar muscles are mechanically simulated according to the force area and various factors, and the plantar mechanical matrix composed of several mechanical units is constructed. The biped robot collects its own motion state data through sensors, and then processes the data through the control system and issues posture instructions to the plantar mechanical matrix. Finally, the mechanical matrix module adjusts the mechanical unit according to the posture instructions, thereby greatly improving the movement of the biped robot’s stability.