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Development of a Redundant Humanoid Lower Limb With Whole-Foot Tactile Perception

The physical basis of human erect and motion balance includes flexible multi-DoF lower limbs and foot tactile perception. Most existing humanoid lower limbs focus on providing physical support and mobility, with little work on more bionic DoFs or tactile sensing abilities that are more than significant for a fully humanoid system. This study developed a redundant humanoid lower limb with whole-foot tactile sensing capability. An eight-DoF mechanism with humanoid joints was designed, and a tactile sensor with electric double-layer capacitors (EDLC) principle wrapped the 3D-curved foot surface. An STM32-based circuitry integrating tactile perception and control with an inverse kinematics algorithm was experimentally demonstrated. A mapping relationship between tactile information and control commands (Z-CMD) was established. The effectiveness and feasibility of the robotic system were verified by an obstacle avoidance experiment with a teaching-playback function. This work provides novel insight and methodology for humanoid robots and tactile-based bionic intelligence.