@inproceedings{5a449be24f874748899df3816f669ee9,
title = "Leg Mechanism Design of a Jumping Robot with Variable Reduction Ratio Joint",
abstract = "In order to improve the dynamic motion ability of the biped robot, a joint with high torque output and high backdrivability is required. In this paper, a new leg mechanism using a joint with continuously variable reduction ratio inspired by human joint structure is proposed. This mechanism possesses high actuation capability and high impact resistance ability. Based on the characteristics of jumping motion, the parameters of the joint are optimized to increase the jumping height of the robot. A contrast simulation was implemented on a one-legged model to show the advantages of the variable reduction ratio joint over fixed reduction ratio joint. The newly designed joint can increase the jumping height of the robot by 21% comparing with a model without the mechanism. A prototype of one-legged robot using the designed joint with continuously variable reduction ratio has been developed. Vertical jump experiment on the prototype is realized with a height of 42 cm.",
keywords = "Jumping robot, Mechanical design, Variable reduction ratio joint",
author = "Yicheng Weng and Xuechao Chen and Zhangguo Yu and Haoxiang Qi and Xiaoshuai Ma and Min Zhu and Qiang Huang",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022 ; Conference date: 01-08-2022 Through 03-08-2022",
year = "2022",
doi = "10.1007/978-3-031-13844-7_25",
language = "English",
isbn = "9783031138430",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "250--261",
editor = "Honghai Liu and Weihong Ren and Zhouping Yin and Lianqing Liu and Li Jiang and Guoying Gu and Xinyu Wu",
booktitle = "Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings",
address = "Germany",
}