New ankle actuation mechanism for a humanoid robot

Oort van, Gijs and Reinink, Roelof and Stramigioli, Stefano (2011) New ankle actuation mechanism for a humanoid robot. In: 18th IFAC World Congress 2011, 28 August - 2 September 2011, Milan, Italy.

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Abstract:	In this article we discuss the design of a new ankle actuation mechanism for the humanoid robot TUlip. The new mechanism consists of two coupled series-elastic systems. We discuss the choice of actuators according to calculations for maximum achievable walking speed. Some control issues, MIMO and non-linearities are also discussed.
Item Type:	Conference or Workshop Item
Copyright:	© 2011 International Federation of Automatic Control
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/78216
Official URL:	http://dx.doi.org/10.3182/20110828-6-IT-1002.03772
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