Design and Prototyping and Experimental Analysis of a Foot with Toe Joint for Exoskeletons, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Golam Reza (Supervisor)
Abstract
One of the recent studies in the field of humanoid robots is to achieve a robot gait close to the human-like gait. Therefore, using the foot equipped with passive or active toe joint is developed in case of robots. The results of several studies show that the segmented foot with a toe joint has several advantages compared to the rigid foot in: walking speed, range of joint angle and ability to kneel and climb higher steps. Both passive and active toe joints of humanoid robots are developed. Advantages of the passive toe joint is obvious; in terms of design, it is more simple and light. Moreover, in normal gait, when the robot is equipped with passive toe joint, body inertial causes an...
Cataloging briefDesign and Prototyping and Experimental Analysis of a Foot with Toe Joint for Exoskeletons, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Golam Reza (Supervisor)
Abstract
One of the recent studies in the field of humanoid robots is to achieve a robot gait close to the human-like gait. Therefore, using the foot equipped with passive or active toe joint is developed in case of robots. The results of several studies show that the segmented foot with a toe joint has several advantages compared to the rigid foot in: walking speed, range of joint angle and ability to kneel and climb higher steps. Both passive and active toe joints of humanoid robots are developed. Advantages of the passive toe joint is obvious; in terms of design, it is more simple and light. Moreover, in normal gait, when the robot is equipped with passive toe joint, body inertial causes an...
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