Novel Design of Biped Robot using Cable Differential Joint

被引：1

作者：

Wei, Hui ^{[1
]}

Shuai, Mei ^{[2
]}

Wang, Zhongyu ^{[1
,3
]}

机构：

[1] Beihang Univ, Sch Instrumentat Sci & Optoelect Engn, Beijing 100191, Peoples R China

[2] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China

[3] Beihang Univ, Sch Instrumentat Sci & Optoelect Engn, Beijing 100191, Peoples R China

来源：

ADVANCED MECHANICAL DESIGN, PTS 1-3 | 2012年 / 479-481卷

基金：

中国国家自然科学基金;

关键词：

biped robot; cable differential joint; energy consumption;

D O I：

10.4028/www.scientific.net/AMR.479-481.2307

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

In this paper, a novel design of cable differential joint for biped robot is proposed. The transmission of joint is cable and operates in differential mode. Then, cable differential joints are employed to the humanoid robot BHLEG for its torque redistribution, 3-Degree of Freedom (DOF) cable differential joint for hip, one DOF joint for knee, and 2-DOF cable differential joint for ankle. According to the distribution of human energy, torque redistribution of cable differential joint can reduce the power consumption of actuator. Simultaneously, the peak torque and size of actuator is reduced. The aim of this paper is to verify a simplest mechanism for biped walking with lower energy consumption.

引用

页码：2307 / +

页数：2