The properties of the foot deployed in a bipedal robot that targets the rendering of a human-like dynamic gait are crucial. Firstly, it has to implement a set of mechanical mechanisms/properties that improve the efficiency of the locomotion. Secondly, it has to integrate a sensory system that captures the interaction with the ground with suitable precision. Both systems—the mechanical and the sensory system—have to be integrated as tightly as possible to keep the overall dimensions and weight low. Being the most distal element of the leg, especially the latter is crucial for favorable leg dynamics. Regarding the structural properties, a modern prosthetic foot poses a good solution and has hence been adopted in various bipeds. Their elaborated structures—mostly made from carbon fiber composites—are designed to imitate the mechanisms of the anthropomorphic counterpart. The following presents a concept to estimate the ground interaction based on the intrinsic deformation of a comme...

中文翻译：

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利用假足的内在变形来估计压力中心和地面反作用力。

部署在双足机器人中的脚部特性至关重要，该机器人旨在渲染类人动态步态。首先，它必须实现一组提高运动效率的机械机制/属性。其次，它必须集成一个传感系统，以适当的精度捕捉与地面的相互作用。两个系统——机械系统和感官系统——必须尽可能紧密地集成在一起，以保持较低的整体尺寸和重量。作为腿部最远端的元素，尤其是后者对于良好的腿部动力学至关重要。关于结构特性，现代假足提出了很好的解决方案，因此已被各种两足动物采用。它们精心设计的结构——主要由碳纤维复合材料制成——旨在模仿拟人化对应物的机制。下面提出了一个概念来估计基于地面固有变形的地面相互作用......