A novel design for adjustable stiffness artificial tendon for the ankle joint of a bipedal robot: Modeling & simulation

Aiman Omer, Reza Ghorbani, Kenji Hashimoto, Hun Ok Lim, Atsuo Takanishi

    Research output: Contribution to journalArticle

    3 Citations (Scopus)

    Abstract

    Bipedal humanoid robots are expected to play a major role in the future. Performing bipedal locomotion requires high energy due to the high torque that needs to be provided by its legs' joints. Taking the WABIAN-2R as an example, it uses harmonic gears in its joint to increase the torque. However, using such a mechanism increases the weight of the legs and therefore increases energy consumption. Therefore, the idea of developing a mechanism with adjustable stiffness to be connected to the leg joint is introduced here. The proposed mechanism would have the ability to provide passive and active motion. The mechanism would be attached to the ankle pitch joint as an artificial tendon. Using computer simulations, the dynamical performance of the mechanism is analytically evaluated.

    Original languageEnglish
    Article number1
    JournalMachines
    Volume4
    Issue number1
    DOIs
    Publication statusPublished - 2016 Mar 1

    Keywords

    • Adjustable stiffness actuator
    • Bipedal walking
    • Humanoid design
    • Passive dynamic walking

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Computer Science (miscellaneous)
    • Mechanical Engineering
    • Control and Optimization
    • Industrial and Manufacturing Engineering
    • Electrical and Electronic Engineering

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