Bevel-geared mechanical foot: a bioinspired robotic foot compensating yaw moment of bipedal walking

References

• Ueda J, Shirase K, Matsumoto Y, et al. Momentum compensation for fast dynamic walking of humanoids based on pelvic rotation of contact sport athletes. 4th IEEE/RAS Int Conf Humanoid Rob. 2004;2:592–607.
   Google Scholar
• Ugurlu B, Saglia JA, Tsagarakis NG, et al. Yaw moment compensation for bipedal robots via intrinsic angular momentum constraint. Int J Humanoid Rob. 2012;09(04):1250033.
   Web of Science ®Google Scholar
• Zhu C, Kawamura A. What is the real frictional constraint in biped walking? Discussion on frictional slip with rotation. IEEE/RSJ International Conference on Intelligent Robots and Systems; 2006 Oct; Beijing; p. 5762–5768.
   Google Scholar
• Yang L, Deng C. Yaw moment compensation for humanoid robot via arms swinging. Open Auto Control Syst J. 2014 12;6:1371–1377.
   Google Scholar
• Zhao F, Gao J. Anti-slip gait planning for a humanoid robot in fast walking. Appl Sci. 2019;9(13):2657.
   Google Scholar
• Li Y, Wang W, Crompton R, et al. Free vertical moments and transverse forces in human walking and their role in relation to arm-swing. J Exp Biology. 2001;204(1):47–58.
   PubMed Web of Science ®Google Scholar
• Steven C H, Peter A G, Kuo AD. Dynamic arm swinging in human walking. Proc R Soc London B: Biol Sci. 2009;276:3679–3688.
   Web of Science ®Google Scholar
• Yasutaka Fujimoto AK. Robust control of biped walking robot with yaw moment compensation by arm motion. Asian Control Conference (ASCC); 1997 Jul; Leuven; p. 327–330.
   Google Scholar
• Cisneros R, Yokoi K, Yoshida E. Yaw moment compensation by using full body motion. 2014 IEEE International Conference on Mechatronics and Automation; 2014 Aug; Tianjin; p. 119–125.
   Google Scholar
• Pfeifer R, Bongard J. How the body shapes the way we think. Cambridge (MA): The MIT Press; 2006.
   Google Scholar
• Piazza C, Santina CD, Gasparri GM. Toward an adaptive foot for natural walking. Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on 2009; Cancun; p. 1204–1210.
   Google Scholar
• Hashimoto K, Takezaki Y, Hattori K, et al. A study of function of foot's medial longitudinal arch using biped humanoid robot. In Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference; Taipei. 2010;(6).
   Google Scholar
• Narioka K, Homma T, Hosoda K. Humanlike ankle-foot complex for a biped robot. Humanoid Robots (Humanoids), 2012 12th IEEE-RAS International Conference on. 2012; Osaka; p. 15–20.
   Google Scholar
• Liu X, Duan Y, Hitzmann A, et al. Using the foot windlass mechanism for jumping higher: a study on bipedal robot jumping. Rob Auton Syst. 2018;110:85–91.
   Web of Science ®Google Scholar
• Kawakami T, Hosoda K. Bipedal walking with oblique mid-foot joint in foot. Proceedings of the 2015 IEEE Conference on Robotics and Biomimetics; Zhuhai. 2015; p. 535–540.
   Google Scholar
• Chen TY, Kawakami T, Ogihara N, et al. Free moment induced by oblique transverse tarsal joint: investigation by constructive approach. R Soc Open Sci. 2021;8(4):201947.
   PubMed Web of Science ®Google Scholar
• Hicks JH. The mechanics of the foot. I. The joints. J Anatomy. 1953 Oct;87:345–57.
   PubMed Web of Science ®Google Scholar
• Nester CJ, Findlow A, Bowker P. Scientific approach to the axis of rotation at the midtarsal joint. J Am Podiatr Med Assoc. 2001;91(2):68–73.
   PubMed Web of Science ®Google Scholar
• Sivan A, Tara K, Costigan PA. The free moment in walking and its change with foot rotation angle. Sports Med Arthrosc Rehabil Ther Technol. 2009;1:1–9.
   PubMedGoogle Scholar
• Holden JP, Cavanagh PR. The free moment of ground reaction in distance running and its changes with pronation. J Biomech. 1991;24(10):887–897.
   PubMed Web of Science ®Google Scholar
• Kirby KA. Subtalar joint axis location and rotational equilibrium theory of foot function. J Am Podiatr Med Assoc. 2001 Oct;91:465–87.
   PubMed Web of Science ®Google Scholar
• Inman VT. The joints of the ankle. Philadelphia (PA): Williams & Wilkins; 1976.
   Google Scholar
• Sethi PK. The foot and footwear. Prosthet Orthot Int. 1977;1(3):173–182.
   PubMedGoogle Scholar
• MA MacConaill JVB. Muscles and movements: a basis for human kinesiology. Philadelphia (PA): Lippincott Williams & Wilkins; 1969.
   Google Scholar
• Robert L N. Kinematics and dynamics of machinery. New York (NY): McGrawHill; 2009.
   Google Scholar
• Bruening DA, Takahashi KZ. Partitioning ground reaction forces for multi-segment foot joint kinetics. Gait Posture. 2018 May;62:111–116.
   PubMed Web of Science ®Google Scholar
• Sarrafian DSK. Functional characteristics of the foot and plantar aponeurosis under tibiotalar loading. Foot Ankle. 1987;8(1):4–18.
   PubMedGoogle Scholar
• Ghanem I, Massaad A, Assi A, et al. Understanding the foot's functional anatomy in physiological and pathological conditions: the calcaneopedal unit concept. J Child Orthop. 2019;13(2):134–146.
   PubMedGoogle Scholar
• McPoil TG, Knecht HG. Biomechanics of the foot in walking: a function approach. J Ortho Sports Phys Therapy. 1985;7(2):69–72.
   PubMedGoogle Scholar
• Tweed J, Campbell J, Thompson R, et al. The function of the midtarsal joint: a review of the literature. Foot. 2008;18(2):106–112.
   PubMedGoogle Scholar
• Wilkerson G, Alvarez RG. Rotary ankle instability: overview of pathomechanics and prognosis. Athl Ther Today. 2010 07;14:4–8.
   Google Scholar
• Manter JT. Movements of the subtalar and transverse tarsal joints. Anat. Rec.. 1941;80:397–410.
   Google Scholar
• Klein P, Mattys S, Rooze M. Moment arm length variations of selected muscles acting on talocrural and subtalar joints during movement: an in vitro study. Biomechanics¡/DIFdel¿J Biomech. 1996 Jan;29:21–30.
   PubMed Web of Science ®Google Scholar
• Lee YC, Kouchi M, Mochimaru M, et al. Comparing 3d foot shape models between Taiwanese and Japanese females. Human Ergology¡/DIFdel¿J Hum Ergol (Tokyo). 2015 Jun;44:11–20.
   PubMedGoogle Scholar
• Schuenke M, Schulte E, Schumacher U, et al. Thieme atlas of anatomy general anatomy and musculoskeletal system. New York (NY): Thieme; 2010.
   Google Scholar
• Hosoda K, Takuma T, Nakamoto A, et al. Biped robot design powered by antagonistic pneumatic actuators for multi-modal locomotion. Rob Auton Syst. 2008;56:46–53.
   Web of Science ®Google Scholar
• Plagenhoef S, Evans FG, Abdelnour T. Anatomical data for analyzing human motion. Res Q Exerc Sport. 1983;54(2):169–178.
   Web of Science ®Google Scholar
• Wisse M, Atkeson C, Kloimwieder DK. Swing leg retraction helps biped walking stability. Proceedings of 5th IEEE-RAS International Conference on Humanoid Robots (Humanoids '05); 2005 Dec.; Tsukuba; p. 295–300.
   Google Scholar
• Winter D. Human balance and posture control during standing and walking. Gait Posture. 1995;3(4):193–214.
   Google Scholar
• Salathé Jr EP, Arangio G, Salathé E. The foot as a shock absorber. J Biomech. 1990;27(7):655–9.
   Web of Science ®Google Scholar
• Welte L, Kelly LA, Lichtwark GA, et al. Influence of the windlass mechanism on arch-spring mechanics during dynamic foot arch deformation. J R Soc Interface. 2018;15(145):20180270.
   PubMed Web of Science ®Google Scholar
• Vaughan CL. Dynamics of human gait second edition. Howard Place: Human Kinetics Pub; 1992.
   Google Scholar
• Narioka K, Hosoda K. Designing synergistic walking of a whole-body humanoid driven by pneumatic artificial muscles: an empirical study. Adv Robot. 2008;22(10):1107–1123.
   Web of Science ®Google Scholar