A novel multi-articular leg mechanism for biped robots inspired by bi-articular muscle

Abstract

This paper proposes a novel multi-articular leg system for biped robot. The structure and actuation scheme of the mechanism are inspired by redundantly-actuated manipulators, of which actuators span over multiple joints like bi-articular muscles. The proposed mechanism for robotic leg contributes to improved capacity in end-effector force exertion, which allows less performance requirements in individual actuators. For the purpose of evaluation, we provide the static torque-force transmission analysis, as well as walking simulation results conducted in the dynamic simulator. The results indicate that the proposed mechanism can benefit from the improved output force capacity.

DOI: 10.1109/BIOROB.2016.7523825

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Cite this paper

@article{Lee2016ANM, title={A novel multi-articular leg mechanism for biped robots inspired by bi-articular muscle}, author={Jongwoo Lee and Giuk Lee and Seokmin Hong and SangWook Lee and Jung Hoon Kim and Yonghwan Oh}, journal={2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)}, year={2016}, pages={1372-1377} }