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HTEC foot:A novel foot structure for humanoid robots combining static stability and dynamic adaptability

Jintao Zhang Xuechao Chen Zhangguo Yu Lianqiang Han Zhifa Gao Qingrui Zhao Gao Huang Ke Li Qiang Huang

Defence Technology(防务技术)2025，Vol.44Issue(2)：P.30-51,22.

Defence Technology(防务技术)2025，Vol.44Issue(2)：P.30-51,22.DOI:10.1016/j.dt.2024.08.010

HTEC foot:A novel foot structure for humanoid robots combining static stability and dynamic adaptability

Jintao Zhang ¹Xuechao Chen ¹Zhangguo Yu ¹Lianqiang Han ¹Zhifa Gao ¹Qingrui Zhao ¹Gao Huang ²Ke Li ³Qiang Huang¹

作者信息

1. School of Mechatronical Engineering,Beijing Institute of Technology,No.5,South Street,Zhongguancun,Haidian District,Beijing,100081,China Key Laboratory of Biomimetic Robots and Systems,Ministry of Education,No.5,South Street,Zhongguancun,Haidian District,Beijing,100081,China
2. School of Information Science and Technology,Beijing University of Technology,No.100,Pingleyuan,Chaoyang District,Beijing,100124,China
3. Innovation Center for Control Actuators,Beijing Institute of Precision Mechatronics and Controls,Donggaodi,Fengtai District,Beijing,100076,China
折叠

摘要

关键词

Humanoid robot/Bionic structure/Passive foot structure/Rigid-elastic hybrid dynamics model/Optimal stiffness matching

分类

信息技术与安全科学

引用本文复制引用

Jintao Zhang,Xuechao Chen,Zhangguo Yu,Lianqiang Han,Zhifa Gao,Qingrui Zhao,Gao Huang,Ke Li,Qiang Huang..HTEC foot:A novel foot structure for humanoid robots combining static stability and dynamic adaptability[J].Defence Technology(防务技术),2025,44(2):P.30-51,22.

基金项目

supported by the National Natural Science Foundation of China(Grant No.62073041) （Grant No.62073041）

the Open Fund of Laboratory of Aerospace Servo Actuation and Transmission(Grant No.LASAT-2023A04) （Grant No.LASAT-2023A04）

the Fundamental Research Funds for the Central Universities(Grant Nos.2024CX06011,2024CX06079)。（Grant Nos.2024CX06011,2024CX06079）

Defence Technology(防务技术)

ISSN：2096-3459

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