30 May '13, 7pm

Designing a More Human-Like Lower Leg for Biped Robots

Designing a More Human-Like Lower Leg for Biped Robots

In designing the prototype, the yaw rotation would be provided by a motor located at the top of the shin, just under the knee. The two motors normally situated in the ankle for pitch and roll were ditched in favor of a linear parallel link mechanism, which trimmed precious millimeters off the lower leg's circumference. Here is where they ran into their first major problem: there was no commercially available ball joint strong enough to withstand the compressive loads it would need to support. Their solution was to design one from scratch with the help of Japanese company Hephaist Seiko. (The project was supported in part by the Humanoid Robotics Institute, RoboSoM project, and Japan's MEXT.)

Full article: http://spectrum.ieee.org/automaton/robotics/humanoids/des...

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