Name
Title | ||
|---|---|---|
Novel mechanical design of biped robot SHERPA using 2 DOF cable differential modular joints |
Abstract | ||
|---|---|---|
This paper discusses the mechanical kinematics solutions and design aspects of the biped robot SHERPA, a bipedal platform able to walk and carry load. Starting from the analysis of the human lower limbs, we figure out that 6 DOF per leg are fundamental for a correct walking motion and can be adopted in a mechanical design of a humanoid robot. A close investigation of the joints leads us to a novel modular mechanical design, with a parallel architecture mechanism characterized by and high degree of interchangeable components. The robot is using twelve high performance hollow shaft electrical actuators acting in pairs in a parallel manner, a remote compact and transparent actuation with zero-backlash cable transmissions, 2 DOF differential joints between each segment of the limb and a light-weight carbon fiber skeleton modeling and mimic the anatomy of the human legs. The modular 2 DOF cable differential joint has been implemented at the hip, knee and ankle level. Using our approach, actuation is more transparent (back-drivable, with low inertia) and will allow SHERPA to interact with the environment more smoothly which leads to better walking ability. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/IROS.2009.5354425 | St. Louis, MO |
Keywords | Field | DocType |
novel mechanical design,design aspect,correct walking motion,dof cable differential joint,modular joint,novel modular mechanical design,dof differential joint,biped robot sherpa,better walking ability,mechanical kinematics solution,humanoid robot,mechanical design,torque,actuators,robot kinematics,motion control,mechanism design,carbon fiber,humanoid robots | Motion control,Torque,Kinematics,Simulation,Computer science,Control theory,Robot kinematics,Control engineering,Modular design,Robot,Humanoid robot,Actuator | Conference |
ISBN | Citations | PageRank |
978-1-4244-3804-4 | 4 | 0.53 |
References | Authors | |
8 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ionut Mihai Constantin Olaru | 1 | 4 | 0.53 |
| Sébastien Krut | 2 | 147 | 16.57 |
| F. Pierrot | 3 | 479 | 92.02 |