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

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 proceeding › Conference paper › Research

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 language	English
Title of host publication	Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on
Publisher	IEEE
Pages	264-269
Number of pages	6
ISBN (Print)	978-1-4799-6885-5
Publication status	Published - 3 Nov 2015
Event	2015 IEEE-RAS 5th International Conference on Humanoid Robots (Humanoids) - Seoul, Korea, Republic of Duration: 3 Nov 2015 → 5 Nov 2015

Conference

Conference	2015 IEEE-RAS 5th International Conference on Humanoid Robots (Humanoids)
Country/Territory	Korea, Republic of
City	Seoul
Period	3/11/15 → 5/11/15

Cite this

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title = "A compliant 2-DoF ankle-foot system for a biologically inspired humanoid robot",

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.",

author = "David Rodriguez-Cianca and Maarten Weckx and Diego Torricelli and Jose Gonzalez and Dirk Lefeber and Pons, {Jose Luis}",

year = "2015",

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booktitle = "Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on",

publisher = "IEEE",

note = "2015 IEEE-RAS 5th International Conference on Humanoid Robots (Humanoids) ; Conference date: 03-11-2015 Through 05-11-2015",

}

Rodriguez-Cianca, D, Weckx, M, Torricelli, D, Gonzalez, J, Lefeber, D & Pons, JL 2015, A compliant 2-DoF ankle-foot system for a biologically inspired humanoid robot. in Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on. IEEE, pp. 264-269, 2015 IEEE-RAS 5th International Conference on Humanoid Robots (Humanoids), Seoul, Korea, Republic of, 3/11/15.

A compliant 2-DoF ankle-foot system for a biologically inspired humanoid robot. / Rodriguez-Cianca, David; Weckx, Maarten; Torricelli, Diego; Gonzalez, Jose; Lefeber, Dirk; Pons, Jose Luis.

Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on. IEEE, 2015. p. 264-269.

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › Research

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AU - Pons, Jose Luis

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AB - 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.

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BT - Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on

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

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