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Biomimetic knee design to improve joint torque and life for bipedal robotics

Steele, Alexander; Hunt, Alexander; Etoundi, Appolinaire C.


Alexander Steele

Alexander Hunt


M Giuliani

T Assaf

M Giannaccini


© Springer International Publishing AG, part of Springer Nature 2018. This paper details the design, construction, and performance analysis of a biologically inspired knee joint for use in bipedal robotics. The design copies the condylar surfaces of the distal end of the femur and utilizes the same crossed four-bar linkage design the human knee uses. The joint includes a changing center of rotation, a screw-home mechanism, and patella; these are characteristics of the knee that are desirable to copy for bipedal robotics. The design was calculated to have an average sliding to rolling ratio of 0.079, a maximum moment arm of 2.7 in and a range of motion of 151°. This should reduce wear and perform similar to the human knee. Prototypes of the joint have been created to test these predicted properties.

Journal Article Type Conference Paper
Start Date Jul 25, 2018
Publication Date Jul 21, 2018
Journal Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Print ISSN 0302-9743
Electronic ISSN 1611-3349
Publisher Springer Verlag
Peer Reviewed Peer Reviewed
Volume 10965 LNAI
Pages 91-102
Series Title Lecture Notes in Computer Science
APA6 Citation Steele, A., Hunt, A., & Etoundi, A. C. (2018). Biomimetic knee design to improve joint torque and life for bipedal robotics. Lecture Notes in Artificial Intelligence, 10965 LNAI, 91-102.
Keywords condylar hinge joint, knee biomechanics, bipedal robot, adaptive robotics, knee joint, screw-home mechanism, four bar linkages
Publisher URL
Additional Information Title of Conference or Conference Proceedings : Towards Autonomous Robotic Systems 19th Annual Conference, TAROS 2018


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