Bipedal walking simulation with controlled vibration using MR fluid, electromagnetic dampers and Spherical motors

The aim of our study is to construct a Humanoid with enhanced bipedal walk, which can be utilized in the Medical Sector, as an effective substitute for Artificial Limbs. With reference to the human body, we have designed a humanoid such that the joints are exposed to zero friction, and the efficienc...

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Bibliographic Details
Main Authors: Kumar Mahto, Manoj, Dehury, Saajan, Chitturi, Amita B, Kumar Sinha, Sujay, Chaturvedi, Menorca
Format: Conference Proceeding
Language:English
Subjects:
Bipedal walk
bone dimensions
Fasteners
Fluids
force distribution
Hip
humanoid
Joints
Knee
Magnetic liquids
Magnetomechanical effects
multiple degrees of freedom
spherical joints
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Summary:The aim of our study is to construct a Humanoid with enhanced bipedal walk, which can be utilized in the Medical Sector, as an effective substitute for Artificial Limbs. With reference to the human body, we have designed a humanoid such that the joints are exposed to zero friction, and the efficiency of the motor is increased. The natural phenomenon in the human to adjust the center of gravity and forces in the body can be implied in the humanoid as well. In-order for a better walk, proper force distribution can be compared with that of the human. Variable load carrying capacity and variable shock absorption is aimed at. In the detailed study carried out for this Project, all the dimensions of the major bones of the leg were measured and the range of movements at all the joints has been determined. We also discuss the various movements of the leg and certain values depicting the contact surface area of the Knee joint during movement have been deduced. An innovative leg design has been presented, which will enhance the walking, jumping and running of the robot.
DOI:10.1109/ICMET.2010.5598450