Foot Design for a Humanoid Robot

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Foot Design for a Humanoid Robot
Presented by Michael Davis Supervisor
Dr. Gordon Wyeth
The GuRoo Project GuRoo is an autonomous humanoid
robot, designed to mimic the human ability to
walk, see and interact with its surroundings.
The Existing foot GuRoos existing foot is made
from rigid aluminium and does not provide
cushioning or sensory information for the rest of
the robot.
The existing foot has been modified to
accommodate the new hardware
Capacitive sensors measure the distance between
two parallel plates
The Importance of sensing feet In walking, human
feet provide information about ground surfaces
and balance. Human feet can detect both touch
and pressure. GuRoos new foot design measures
touch via a keyboard grid sensor (blue).
Capacitive sensors (green) measure pressure as
the various leaf springs (yellow) are deflected
under the weight of the robot.
Rigid posts prevent shear motion and maintain
correct alignment of layers
The second parallel plate of the capacitor sensor
Well positioned leaf springs maximise stability
and create linear cushioning
Touch is sensed when two layers of a wire grid
come into contact due to a loca force
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The New foot GuRoo is a humanoid robot, designed
to mimic the human ability to walk, see and
interact with its surroundings. Replace with
callout boxes. Give short description
explanation.

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Two layers of a wire grid come into contact when
a local force is applied, creating a matrix touch
sensor.