Abstract

The foot, which can assist with stress absorption while making contact with the ground, is an essential part of humanoid robot locomotion.Walking stability is directly impacted by foot mechanics.The toes of felids are proposed as the basis for a novel foot mechanism.Four bionic modules, each featuring soft pads and pointed claws at its four corners, make upThis foot's capacity to reduce the amount of impact felt when the foot lands on the ground and extend the duration that the foot is in touch with the ground can improve the robot's adaptability to diverse ground surface conditions with variable degrees of stiffness. The fundamental framework of the bionic module consists of a four-bar linkage with a slide way and a spring. The length of the four-bar linkage and the placement of the claw when inserted into soft ground are also tuned to improve stability and buffering performance. Simulations have proven the validity of the suggested foot mechanism.