Date of Award
This thesis explores the foot design for the new humanoid robot Mithra, with the goal to improve impact mitigation, natural gait throughout the gait cycle and balance. Using human gait parameters, a stiff aluminum foot was designed to emulate human center of pressure rollover trajectories. In addition, a 2D dynamic Finite Element Analysis (FEA) of the gait cycle was created in Abaqus to rapidly prototype foot designs. Data from the FE model provided impact forces, parameters for distal foot power evaluation and maximum lean angles. From this model a flexible nylon foot was optimized for the given design objectives. The flexible foot was able to achieve human-like results for both power absorption during the gait cycle and running impact forces, however, it fell short in achieving human lean angles. The stiff foot was unable to emulate human results. Physical testing of the manufactured foot validated the FE model.
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Brewster, Spencer Lyle, "Design of Human Inspired Feet for Mithra, a High-Performance Humanoid Robot" (2022). Electronic Theses and Dissertations. 2098.
Received from ProQuest
Spencer Lyle Brewster
Robotics, Biomechanics, Mechanical engineering
Available for download on Monday, January 06, 2025