Design of a redundantly actuated leg mechanism

In a humanoid robot system, many human-body motions such as walking, running and jumping require large power. To achieve a high power-to-weight ratio, this paper proposes a new design of the leg mechanism using parallel kinematic chains involving redundant actuators. The kinematics for the leg mecha...

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Bibliographic Details
Main Authors: Byung Rok, So, Byung-Ju, Yi, Wheekuk, Kim, Sang-Rok, Oh, Jongil, Park, Young Soo, Kim
Format: Conference Proceeding
Language:English
Subjects:
Control systems
Force measurement
Humanoid robots
Hydraulic actuators
Kinematics
Leg
Legged locomotion
Motion control
Parallel robots
Payloads
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Summary:In a humanoid robot system, many human-body motions such as walking, running and jumping require large power. To achieve a high power-to-weight ratio, this paper proposes a new design of the leg mechanism using parallel kinematic chains involving redundant actuators. The kinematics for the leg mechanism is derived and a kinematic index to measure force transmission ratio are introduced. It is demonstrated through simulation that incorporation of redundant actuator into the leg mechanism enhances the power of the mechanism approximately 4 times of the minimum actuation. The leg mechanism is developed and has been integrated into the biomimetic system for the purpose of payload enhancement.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2003.1242273