A Design of Humanoid Foot Control System

Humanoid robots can be used in high-risk operations or to replace human repetitive tasks. The basis of its various subsequent functions is the stability of biped walking. A humanoid foot structure which adapts to the ground condition and changes the contact mode is designed. The mechanical structure of robot foot is divided into two parts: front sole and rear sole. Using flexibility force transducer array and temperature transducer to monitor landform and ground data. The mechanical structure of this humanoid robot foot is such that the robot can realize passive deformation of the foot. The active deformation of the robot foot is realized by STM32 controlling servo. The structure contains four kinds of working modes, can make the robot achieve semi-passive walking, with certain robustness. In this paper, we design the mechanical structure of the robot foot and its control method. Finally, the feasibility of the foot structure is verified by experiments.