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Modeling of the Exoskeleton Foot and Supporting Surface Interaction

The increased interest in anthropomorphic devices is due to the wide possibilities for traveling over rough terrain, stairs, overcoming obstacles, as well as the ability to carry out both horizontal and vertical jumps. The article discusses one of the most important nodes of such robots - the foot, which ensures the interaction of the robot with the supporting surface. The article analyzes the existing approaches to modeling the walking robots’ foot and develops the active multi-link foot structure, which has advantages when walking on an uneven surface. A method for calculating electric drives is proposed and the main structural elements of the device are designed. The foot three-dimensional model was developed and the strength of individual structural parts was checked. The foot links movement mathematical model in the sagittal plane is given. The equations of motion are obtained, the results of computational experiments are presented.