Research On Simulation Of Foot In Walking And Bionic Foot Of Biped Robot

As the only connection between a robot and ground, foot plays a key role on the stability of walking. The reasonable design of bio-robot could improve walking stability of robot. Based on bionics, the thesis designed a bio-robot which has the arch structure deformation and the support style of human foot by the investigation of kinematic experiment and simulation of walking. It contains three integral parts:1) For the small size and compact structure and the small spatial displacement of human foot during the support period of walking, the paper designed and implemented a walking kinematics experiments of human foot with comprehensive utilization of video imaging, image analysis and data processing technology, obtain the kinematic data of foot joints.2) Built a lower-limb-foot-ankle skeleton model, and realized2dimension kinematical simulation during walking, based on bionics, the dimension scale and structure of experimental subject.3) Realize the structural design of bionic foot by imitating the structural shape, deformational function and support mode of human foot in walking. And discuss the rationality and feasibility of the designed bionic foot based on the analysis of structural static mechanics.