Simple and low-cost compliant leg-foot system

We describe a simple and low-cost humanoid leg design with compliant joints and springy feet. Mechanical compliance is achieved by combining visco-elastic material with metal. Joints and feet characteristics are evaluated by repeatedly dropping the system from a fixed height. Different joint configurations (silicone rubber, latex and brass) and foot compliance are examined, and additional data are obtained with a Lagrangian analysis of the system. We show that compliance not only reduces impact forces, but also induces smoother joint trajectories.


Published in:
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, 1, 515-520
Presented at:
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, Sendai, Japan, 2004
Year:
2004
Publisher:
IEEE Xplore
Keywords:
Laboratories:




 Record created 2010-02-06, last modified 2018-09-13

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