Optimum Design of the Humanoid Robot's Foot using the Design of Experiments

J. Yoon, T. Park, K. Jun, S. Lee, and J. Park (Korea)


Humanoid robot, Dynamic analysis, Optimization, Simulation


Humanoid robot’s foot provides adequate support and proper friction force when moving. The robot should walk in flat plane, inclined plane, and rough surface, as well. However, unlike walking in flat plane, it is very difficult for a robot to walk over the rough surface because of various directions of transmitted forces from the surface. As a result, anti-shock mechanism and suitable structural design for the foot are required to walk stable. In this paper, a design process for the humanoid robot’s foot, is proposed. Performance requirements of the robot’s foot are discussed. To encourage a conceptual design process, TRIZ, an inventive thinking tool, is adapted. A design of experiments (DOE) method is used to minimize the deflection of the frame. Furthermore, DOE is also applied to optimize the coefficients of the shock absorption material. Finally, total performance of the robot is verified by multibody dynamic analysis. Through the verification, the most appropriate shape and structure of the foot is suggested.

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