Development of leg mechanism using a knee joint with variable reduction ratio adaptive to load

Aiguo Ming; Syunpei Nozawa; Ryuki Sato; Zhangguo Yu; Makoto Shimojo

doi:10.1109/ROBIO.2013.6739691

Development of leg mechanism using a knee joint with variable reduction ratio adaptive to load

Aiguo Ming^*, Syunpei Nozawa, Ryuki Sato, Zhangguo Yu, Makoto Shimojo

^*Corresponding author for this work

School of Mechatronical Engineering

The University of Electro-Communications

Research output: Contribution to conference › Paper › peer-review

6 Citations (Scopus)

Abstract

The realization of natural, fast and versatile motions for bipedal robots is still a challenge. As one approach to enhance the performance of bipedal robots, actuation with high backdrivability, high power-to-weight ratio as well as high torque is required. In this paper, a new mechanism of knee joint with variable reduction ratio adaptive to load is proposed to improve the capability of actuation while in light structure. The design method including simulation for the mechanism is described. A prototype of the leg robot has been developed and the basic feasibility of the mechanism is shown by experimental results.

Original language	English
Pages	1574-1579
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2013.6739691
Publication status	Published - 2013
Event	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China Duration: 12 Dec 2013 → 14 Dec 2013

Conference

Conference	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Country/Territory	China
City	Shenzhen
Period	12/12/13 → 14/12/13

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title = "Development of leg mechanism using a knee joint with variable reduction ratio adaptive to load",

abstract = "The realization of natural, fast and versatile motions for bipedal robots is still a challenge. As one approach to enhance the performance of bipedal robots, actuation with high backdrivability, high power-to-weight ratio as well as high torque is required. In this paper, a new mechanism of knee joint with variable reduction ratio adaptive to load is proposed to improve the capability of actuation while in light structure. The design method including simulation for the mechanism is described. A prototype of the leg robot has been developed and the basic feasibility of the mechanism is shown by experimental results.",

author = "Aiguo Ming and Syunpei Nozawa and Ryuki Sato and Zhangguo Yu and Makoto Shimojo",

year = "2013",

doi = "10.1109/ROBIO.2013.6739691",

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note = "2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 ; Conference date: 12-12-2013 Through 14-12-2013",

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T1 - Development of leg mechanism using a knee joint with variable reduction ratio adaptive to load

AU - Ming, Aiguo

AU - Nozawa, Syunpei

AU - Sato, Ryuki

AU - Yu, Zhangguo

AU - Shimojo, Makoto

PY - 2013

Y1 - 2013

N2 - The realization of natural, fast and versatile motions for bipedal robots is still a challenge. As one approach to enhance the performance of bipedal robots, actuation with high backdrivability, high power-to-weight ratio as well as high torque is required. In this paper, a new mechanism of knee joint with variable reduction ratio adaptive to load is proposed to improve the capability of actuation while in light structure. The design method including simulation for the mechanism is described. A prototype of the leg robot has been developed and the basic feasibility of the mechanism is shown by experimental results.

AB - The realization of natural, fast and versatile motions for bipedal robots is still a challenge. As one approach to enhance the performance of bipedal robots, actuation with high backdrivability, high power-to-weight ratio as well as high torque is required. In this paper, a new mechanism of knee joint with variable reduction ratio adaptive to load is proposed to improve the capability of actuation while in light structure. The design method including simulation for the mechanism is described. A prototype of the leg robot has been developed and the basic feasibility of the mechanism is shown by experimental results.

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U2 - 10.1109/ROBIO.2013.6739691

DO - 10.1109/ROBIO.2013.6739691

M3 - Paper

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T2 - 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

Y2 - 12 December 2013 through 14 December 2013

ER -

Development of leg mechanism using a knee joint with variable reduction ratio adaptive to load

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