A compliant 2-DoF ankle-foot system for a biologically inspired humanoid robot

David Rodríguez-Cianca, Maarten Weckx, Diego Torricelli, Jose Gonzalez, Dirk Lefeber, Jose L Pons

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

The modulation of joint stiffness is a crucial mechanism that allows humans, and other vertebrates, to perform stable and efficient locomotion. Compliant actuation is an emerging branch of robotics, which aims to mimic the biological elastic properties of muscle fibers and series-elastic tendon structures. This paper presents the mechanical design and real prototype of a compliant 2-Degrees of Freedom (DoF) ankle-foot system for application in a humanoid biped robot. The proposed design centralizes the two DoFs in one single joint, while allowing independent control of the equilibrium position and stiffness in both DoFs. The presented prototype achieves higher ranges of motion in both sagittal and frontal plane than those expected in normal walking conditions, while at the same time increases the versatility of the ankle due to its compliant properties.

Original languageEnglish (US)
Title of host publicationHumanoids 2015
Subtitle of host publicationHumanoids in the New Media Age - IEEE RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Pages264-269
Number of pages6
ISBN (Electronic)9781479968855
DOIs
StatePublished - Dec 22 2015
Event15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015 - Seoul, Korea, Republic of
Duration: Nov 3 2015Nov 5 2015

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2015-December
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015
CountryKorea, Republic of
CitySeoul
Period11/3/1511/5/15

Keywords

  • Actuators
  • Foot
  • Legged locomotion
  • Muscles
  • Springs
  • Torque

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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