A Humanoid Foot with Polypyrrole Conducting Polymer Artificial Muscles for Energy Dissipation and Storage

• DOI: 10.1109/robot.2007.363912
• Publication Date: 2007-06-07T20:09:21Z
• Authors: Thomas W. Secord; H. Harry Asada
• Keywords: Polypyrrole; Ground reaction force

This paper describes the design and analysis of a humanoid foot constructed using polypyrrole (PPy) conducting polymer (CP) actuators. The compliance damping natural muscles plays an important role in human gait. Conducting polymers actuators other smart structure can store energy by means inherent mechanical that traditional DC motor do not possess. presents method for optimizing order to minimize active control effort required generate A simplified kinematic model is evaluated biomechanical joint angle ground reaction force (GRF) data yield desired versus displacement characteristics posterior dorsal Numerical simulations illustrate multifunctional nature PPy overall power requirements system during stance phase walking