Designing the test feet of the humanoid robot M-Series

This paper concerns the construction and function of a test foot with a passive toe joint. This was developed within the scope of the EU project ALEAR (artificial language evolution on autonomous robots) together with a test leg for the humanoid robot "M-Series" to test different function principles. In particular the sensor types are exemplified which are used in this foot. Further, the sensor principles, the electronic subsequent treatment of the sensor signals as well as their provision for the connected bus system are explained. Concluding, the experiences which were won with the present test construction are highlighted. The outlook is given on the planned foot which should be used in the humanoid "M-Series" robot.