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This paper discusses the design of a human-inspired foot for the humanoid robot Mithra, aiming to enhance its performance in terms of impact behavior, power cycling, and balance. An optimization framework utilizing dynamic finite element analysis was developed to create a compliant foot that significantly outperforms a rigid baseline design. The findings suggest that this design approach can also be applied to lower-limb prostheses and exoskeletons, bridging the gap between robotic and human locomotion char

Author

tangduchoan2

Language

EN