TY - JOUR
T1 - A novel design for adjustable stiffness artificial tendon for the ankle joint of a bipedal robot
T2 - Modeling & simulation
AU - Omer, Aiman
AU - Ghorbani, Reza
AU - Hashimoto, Kenji
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
N1 - Publisher Copyright:
© 2016 by the authors.
PY - 2016/3/1
Y1 - 2016/3/1
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.
KW - Adjustable stiffness actuator
KW - Bipedal walking
KW - Humanoid design
KW - Passive dynamic walking
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U2 - 10.3390/machines4010001
DO - 10.3390/machines4010001
M3 - Article
AN - SCOPUS:85043610811
SN - 2075-1702
VL - 4
JO - Machines
JF - Machines
IS - 1
M1 - 1
ER -