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

doi:10.3390/machines4010001

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

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Contribution to journal › Article › peer-review

8 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 language	English
Article number	1
Journal	Machines
Volume	4
Issue number	1
DOIs	https://doi.org/10.3390/machines4010001
Publication status	Published - 2016 Mar 1

Keywords

Adjustable stiffness actuator
Bipedal walking
Humanoid design
Passive dynamic walking

ASJC Scopus subject areas

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

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10.3390/machines4010001

Cite this

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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.",

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AU - Omer, Aiman

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AU - Lim, Hun Ok

AU - Takanishi, Atsuo

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N2 - 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.

AB - 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.

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

Abstract

Keywords

ASJC Scopus subject areas

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