An Energy Efficient Knee Locking Mechanism for a Dynamically Walking Robot


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Oort van, Gijs and Carloni, Raffaella and Borgerink, Dian J. and Stramigioli, Stefano (2011) An Energy Efficient Knee Locking Mechanism for a Dynamically Walking Robot. In: IEEE International Conference on Robotics and Automation, ICRA 2011, 9-13 May 2011, Shanghai, China.

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Abstract:In this work, we present the design and the implementation of an innovative knee locking mechanism for a dynamically walking robot. The mechanism consists of a four-bar linkage that realizes a mechanical singularity for locking the knee when the leg is in the extended position. Once extended, the knee remains locked without energy consumption, while unlocking it only costs a small amount of energy. Tests showed that the robot walks robustly and that the energy consumption of the new system is low.
Item Type:Conference or Workshop Item
Copyright:© 2011 IEEE
Faculty:
Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:
Link to this item:http://purl.utwente.nl/publications/76067
Official URL:http://dx.doi.org/10.1109/ICRA.2011.5980276
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