Date of Award

2022

Document Type

Masters Thesis

Degree Name

M.S.

Organizational Unit

Daniel Felix Ritchie School of Engineering and Computer Science, Mechanical and Materials Engineering

First Advisor

Siavash Rezazadeh

Second Advisor

Paul Rullkoetter

Third Advisor

Margareta Stefanovic

Keywords

Robotics, Design

Abstract

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.

Publication Statement

Copyright is held by the author. User is responsible for all copyright compliance.

Rights Holder

Spencer Lyle Brewster

Provenance

Received from ProQuest

File Format

application/pdf

Language

en

File Size

103 pgs

Discipline

Robotics, Biomechanics, Mechanical engineering

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Available for download on Monday, January 06, 2025



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