Alexander Steele
Biomimetic knee design to improve joint torque and life for bipedal robotics
Steele, Alexander; Hunt, Alexander; Etoundi, Appolinaire C.
Authors
Contributors
M Giuliani
Editor
T Assaf
Editor
M Giannaccini
Editor
Abstract
© 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.
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. https://doi.org/10.1007/978-3-319-96728-8_8
Journal Article Type | Conference Paper |
---|---|
Conference Name | Towards Autonomous Robotic Systems (TAROS) Conference |
Conference Location | Bristol, England |
Start Date | Jul 25, 2018 |
End Date | Jul 27, 2018 |
Acceptance Date | Jun 4, 2018 |
Online Publication Date | Jul 21, 2018 |
Publication Date | Jul 21, 2018 |
Deposit Date | Sep 17, 2018 |
Publicly Available Date | Mar 29, 2024 |
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 |
DOI | https://doi.org/10.1007/978-3-319-96728-8_8 |
Keywords | condylar hinge joint, knee biomechanics, bipedal robot, adaptive robotics, knee joint, screw-home mechanism, four bar linkages |
Public URL | https://uwe-repository.worktribe.com/output/864347 |
Publisher URL | https://doi.org/10.1007/978-3-319-96728-8_8 |
Additional Information | Title of Conference or Conference Proceedings : Towards Autonomous Robotic Systems 19th Annual Conference, TAROS 2018 |
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