Paper Info
Title
Development of leg mechanism using a knee joint with variable reduction ratio adaptive to load
Abstract
The realization of natural, fast and versatile motions for bipedal robots is still a challenge. As one approach to enhance the performance of bipedal robots, actuation with high backdrivability, high power-to-weight ratio as well as high torque is required. In this paper, a new mechanism of knee joint with variable reduction ratio adaptive to load is proposed to improve the capability of actuation while in light structure. The design method including simulation for the mechanism is described. A prototype of the leg robot has been developed and the basic feasibility of the mechanism is shown by experimental results.
Year
DOI
Venue
2013
10.1109/ROBIO.2013.6739691
ROBIO
Keywords
DocType
Citations 
motion control,bipedal robots,versatile motions,legged locomotion,design method,knee joint,variable reduction ratio,power-to-weight ratio,leg mechanism,leg robot
Conference
0
PageRank 
References 
Authors
0.34
5
5
Name
Order
Citations
PageRank
Aiguo Ming117741.26
Syunpei Nozawa200.34
Ryuki Sato322.76
Zhangguo Yu44619.12
Makoto Shimojo518342.59