Design of a Felid-like Humanoid Foot for Stability Enhancement.

Zhaoyang Cai, Xuechao Chen, Qingqing Li, Huaxin Liu, Zhangguo Yu

Open access · goldAbstract read

In one paragraph

Article in Biomimetics (Basel, Switzerland), 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it

0cells of the map it votes in

0citing papers in PubMed

0.5field-weighted citation impact, top 41% of its field

1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed, 6 citations in OpenAlex.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

5 authors at 1 institution in 1 country.

Zhaoyang CaiSchool of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China.ORCID 0000-0003-3841-2265

Xuechao ChenSchool of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China.ORCID 0000-0003-1136-3053

Qingqing LiSchool of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China.

Huaxin LiuSchool of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China.

Zhangguo YuSchool of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China.

Beijing Institute of Technology · CN

Funding

National Key Research and Development Project 2019YFB1309501National Natural Science Foundation of China 62073041

6 · The paper itself

Abstract

The foot is an important part of humanoid robot locomotion that can help with shock absorption while making contact with the ground. The mechanism of the foot directly affects walking stability. A novel foot mechanism inspired by the toes of felids is proposed. The foot has four bionic modules with soft pads and sharp claws installed at the four corners of a flat foot. This foot can reduce the impact experienced during foot landing and increase the time that the foot is in contact with the ground, which can improve the adaptability of the robot to different ground surface conditions with different levels of stiffness. The main structure of the bionic module is a four-bar linkage consisting of a slide way and a spring. Furthermore, the length of the four-bar linkage and the posture of the claw during insertion into soft ground are optimized to improve the stability and buffering performance. The validity of the proposed foot mechanism has been proved in simulations.

Indexed as

bionichumanoid robotmechanism design

Identifiers

PMID36546935

DOI10.3390/biomimetics7040235

PMCPMC9775765

OpenAlexW4312127202

What OpenQuestion holds

Textmetadata

LicenceCC BY

Read underepoch 390

Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.