摘要
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.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | Advanced Mechanical Design |
| 页 | 2307-2310 |
| 页数 | 4 |
| DOI | |
| 出版状态 | 已出版 - 2012 |
| 活动 | 3rd international Conference on Manufacturing Science and Engineering, ICMSE 2012 - Xiamen, 中国 期限: 27 3月 2012 → 29 3月 2012 |
出版系列
| 姓名 | Advanced Materials Research |
|---|---|
| 卷 | 479-481 |
| ISSN（印刷版） | 1022-6680 |
会议
| 会议 | 3rd international Conference on Manufacturing Science and Engineering, ICMSE 2012 |
|---|---|
| 国家/地区 | 中国 |
| 市 | Xiamen |
| 时期 | 27/03/12 → 29/03/12 |
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