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This research presents an innovative biomimetic foot mechanism tailored for bipedal robots, inspired by the interaction between the human foot and the ground. The introduction of a bifurcated structure within the foot design significantly diminishes the peak torque demands on ankle joint motors, enhancing both the stability and agility of legged locomotion. The mechanism is adeptly integrated into the legs of our designed bipedal robot, incorporating a unique approach for foot coordinate system definition and kinematic modeling. Employing Model Predictive Control (MPC), the system achieves real-time walking control, ensuring accurate adherence to predetermined body states and effectively managing the forces and moments resulting from ground contact. Using Simscape® multibody simulations, we demonstrate that the robot, equipped with the proposed biomimetic feet, achieves stable and agile locomotion at speeds up to 1.15 m/s, highlighting its impressive dynamic capabilities. This paper details the biomimetic foot's design and modeling process, elucidates the MPC framework's application, and presents a comparative analysis, underscoring the novel design's superiority over conventional bipedal robot feet.

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A Novel Bifurcated Foot Mechanism for Biped Robots: Design, Modeling, and MPC Walking Control

  • 会议论文

  • 发表日期：

    2025年

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  • Zehua Fan,
  • Feng Gao,
  • Xianbao Chen,
  • Zhijun Chen,
  • Yunpeng Yin

摘要

This research presents an innovative biomimetic foot mechanism tailored for bipedal robots, inspired by the interaction between the human foot and the ground. The introduction of a bifurcated structure within the foot design significantly diminishes the peak torque demands on ankle joint motors, enhancing both the stability and agility of legged locomotion. The mechanism is adeptly integrated into the legs of our designed bipedal robot, incorporating a unique approach for foot coordinate system definition and kinematic modeling. Employing Model Predictive Control (MPC), the system achieves real-time walking control, ensuring accurate adherence to predetermined body states and effectively managing the forces and moments resulting from ground contact. Using Simscape® multibody simulations, we demonstrate that the robot, equipped with the proposed biomimetic feet, achieves stable and agile locomotion at speeds up to 1.15 m/s, highlighting its impressive dynamic capabilities. This paper details the biomimetic foot's design and modeling process, elucidates the MPC framework's application, and presents a comparative analysis, underscoring the novel design's superiority over conventional bipedal robot feet.