A Three Degree of Freedom Leg Design, and Implementation in a Bipedal Robot

被引：0
|
作者：
Enoch, Alexander [1 ]
机构：
[1] Univ Edinburgh, Sch Informat, Inst Percept Act & Behav, Edinburgh EH8 9YL, Midlothian, Scotland
来源：
PROCEEDINGS OF THE 2015 7TH IEEE INTERNATIONAL CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS (CIS) AND ROBOTICS, AUTOMATION AND MECHATRONICS (RAM) | 2015年
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中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Reducing the number of actuators in a robot is advantageous for reducing the complexity, cost, and weight of the robot. However, it usually results in a reduction in functionality for the robot. In this paper, we present a design for the legs of a bipedal robot which uses only three actuators per leg, and yet is still capable of dexterous three dimensional motion. Each leg comprises two four-bar linkages, with one motor for each four bar linkage, and one motor for applying twist to the leg, to enable turning. We show that a free standing bipedal robot constructed with two of these legs is capable of walking, turning, and various other motions.
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页数：6
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