Abstract
In this paper, a novel design of cable differential joint for biped robot is proposed. The transmission of joint is cable and operates in differential mode. Then, cable differential joints are employed to the humanoid robot BHLEG for its torque redistribution, 3-Degree of Freedom (DOF) cable differential joint for hip, one DOF joint for knee, and 2-DOF cable differential joint for ankle. According to the distribution of human energy, torque redistribution of cable differential joint can reduce the power consumption of actuator. Simultaneously, the peak torque and size of actuator is reduced. The aim of this paper is to verify a simplest mechanism for biped walking with lower energy consumption.
| Original language | English |
|---|---|
| Title of host publication | Advanced Mechanical Design |
| Pages | 2307-2310 |
| Number of pages | 4 |
| DOIs | |
| State | Published - 2012 |
| Event | 3rd international Conference on Manufacturing Science and Engineering, ICMSE 2012 - Xiamen, China Duration: 27 Mar 2012 → 29 Mar 2012 |
Publication series
| Name | Advanced Materials Research |
|---|---|
| Volume | 479-481 |
| ISSN (Print) | 1022-6680 |
Conference
| Conference | 3rd international Conference on Manufacturing Science and Engineering, ICMSE 2012 |
|---|---|
| Country/Territory | China |
| City | Xiamen |
| Period | 27/03/12 → 29/03/12 |
UN SDGs
This output contributes to the following UN Sustainable Development Goals (SDGs)
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SDG 7 Affordable and Clean Energy
Keywords
- Biped robot
- Cable differential joint
- Energy consumption
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