Comparison of several kinds of feet for humanoid robot

This paper describes our research efforts aimed in the analysis of the humanoid robot feet role during walking gait. To improve the humanoid robot walking performances, a dynamic simulation using ADAMS software is carried out. To analyze the foot model effects virtual locomotion system has been built. Four foot models are compared through two criteria: the total energy consumption and the normal contact force component. These models are plate, flexible, active and hybrid flexible active feet parts. Simulation results show the relative effects of the flexibility and the introduction of the active joint at the toes level. The results prove the efficiency of the flexible active foot model