Provided is a foot structure for a humanoid robot capable of effectively
keeping its balance in a pause state or action. The foot structure
includes a support; a plurality of lower structures having an upper
member connected to a bottom of the support; a plurality of lower members
having a plurality of independent portions each movably connected to the
upper member; and a revolute joint for coupling the upper member and the
lower member. Since a contact between the foot structure and the floor is
smoothly made, a shock is prevented from being transferred to a body of
the humanoid robot. Also, a vibration generated when the humanoid robot
steps on the floor is eliminated, so that the humanoid robot can pose a
stable and smooth gate.
