Simulation of humanoid motion based on the foot with one active joint

This paper describes a foot with an active joint. Based on the humanoid robot BHR3, the foot structure with active toes joint is designed, gait plan with heel uplifting and toe supporting is developed, and the gait is feasible according to multi-body system dynamics simulation. Compared with the foot without joint, the gait introduced in this paper is more natural, as well as more stable. At the same time, it will play a better performance on joints torque, rotate range, and energy consumption.