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conference paper
Simple and low-cost compliant leg-foot system
2004
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
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.
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conference_sendai.pdf
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