This paper presents the SoftFoot, a new design for robot feet that helps improve performance when walking on uneven terrains. Traditional robot feet designs, usually flat and stiff, encounter limitations when stepping on irregular surfaces. The SoftFoot addresses this issue by adapting its shape and stiffness based on the forces exerted on it, using a system of pulleys, tendons, and springs. The design has been tested and compared with two conventional feet, a rigid one and a compliant one. Results reveal that the SoftFoot has superior standing performance and can absorb impulsive loads as effectively as a compliant foot.
Publication date: 12 Jan 2024
Project Page: Not provided
Paper: https://arxiv.org/pdf/2401.05318
