A novel multi articular leg mechanism for biped robots inspired by bi articular muscle
This paper proposes a novel multi articular leg system for biped robot. The structure and actuation scheme of the mechanism are inspired by redundantly actuated manipulators, of which actuators span over multiple joints like bi articular muscles. The proposed mechanism for robotic leg contributes to improved capacity in end effector force exertion, which allows less performance requirements in individual actuators. For the purpose of evaluation, we provide the static torque force transmission analysis, as well as walking simulation results conducted in the dynamic simulator. The results indicate that the proposed mechanism can benefit from the improved output force capacity.
2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)