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

*この研究の対応する著者

研究成果: Article査読

5 被引用数 (Scopus)

抄録

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.

本文言語English
論文番号1
ジャーナルMachines
4
1
DOI
出版ステータスPublished - 2016 3 1

ASJC Scopus subject areas

  • コンピュータ サイエンス(その他)
  • 制御およびシステム工学
  • 機械工学
  • 制御と最適化
  • 産業および生産工学
  • 電子工学および電気工学

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