A compliant 2-DoF ankle-foot system for a biologically inspired humanoid robot

David Rodriguez-Cianca, Maarten Weckx, Diego Torricelli, Jose Gonzalez, Dirk Lefeber, Jose Luis Pons

Research output: Chapter in Book/Report/Conference proceedingConference paper

2 Citations (Scopus)

Abstract

The modulation of joint stiffness is a crucial mechanism that allows humans, and other vertebrates, to perform stable and efficient locomotion. Compliant actuation is an emerging branch of robotics, which aims to mimic the biological elastic properties of muscle fibers and series-elastic tendon structures. This paper presents the mechanical design and real prototype of a compliant 2-Degrees of Freedom (DoF) ankle-foot system for application in a humanoid biped robot. The proposed design centralizes the two DoFs in one single joint, while allowing independent control of the equilibrium position and stiffness in both DoFs. The presented prototype achieves higher ranges of motion in both sagittal and frontal plane than those expected in normal walking conditions, while at the same time increases the versatility of the ankle due to its compliant properties.
Original languageEnglish
Title of host publicationHumanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on
PublisherIEEE
Pages264-269
Number of pages6
ISBN (Print)978-1-4799-6885-5
Publication statusPublished - 3 Nov 2015
Event2015 IEEE-RAS 5th International Conference on Humanoid Robots (Humanoids) - Seoul, Korea, Republic of
Duration: 3 Nov 20155 Nov 2015

Conference

Conference2015 IEEE-RAS 5th International Conference on Humanoid Robots (Humanoids)
CountryKorea, Republic of
CitySeoul
Period3/11/155/11/15

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