New Joint Design to Create a More Natural and Efficient Biped
This paper presents a human-oriented approach to design the mechanical architecture and the joint controller for a biped robot. Starting from the analysis of the human lower limbs, we figured out which features of the human legs are fundamental for a correct walking motion, and can be adopted in the...
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| Format: | Article |
| Language: | English |
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Wiley
2009-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1080/11762320902734190 |
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| author | Giuseppina Gini Umberto Scarfogliero Michele Folgheraiter |
| author_facet | Giuseppina Gini Umberto Scarfogliero Michele Folgheraiter |
| author_sort | Giuseppina Gini |
| collection | DOAJ |
| description | This paper presents a human-oriented approach to design the mechanical architecture and the joint controller for a biped robot. Starting from the analysis of the human lower limbs, we figured out which features of the human legs are fundamental for a correct walking motion, and can be adopted in the mechanical design of a humanoid robot. We focus here on the knee, designed as a compliant human-like knee instead of a classical pin-joint, and on the foot, characterised by the mobility and lightness of the human foot. We implemented an elastic actuator, with a simple position control paradigm that sets the joint stiffness in real time, and developed the basic controller. Results in simulation are discussed. In our approach the robot gains in adaptability and energetic efficiency, which are the most challenging issues for a biped robot. |
| format | Article |
| id | doaj-art-3383663d9c6b4250aa0f5d2c30872f67 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2009-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-3383663d9c6b4250aa0f5d2c30872f672025-02-03T01:01:42ZengWileyApplied Bionics and Biomechanics1176-23221754-21032009-01-0161274210.1080/11762320902734190New Joint Design to Create a More Natural and Efficient BipedGiuseppina Gini0Umberto Scarfogliero1Michele Folgheraiter2Department of Electronics and Information, Politecnico di Milano, Piazza L. da Vinci 32, MILANO, I-20133, ItalyDepartment of Electronics and Information, Politecnico di Milano, Piazza L. da Vinci 32, MILANO, I-20133, ItalyDepartment of Electronics and Information, Politecnico di Milano, Piazza L. da Vinci 32, MILANO, I-20133, ItalyThis paper presents a human-oriented approach to design the mechanical architecture and the joint controller for a biped robot. Starting from the analysis of the human lower limbs, we figured out which features of the human legs are fundamental for a correct walking motion, and can be adopted in the mechanical design of a humanoid robot. We focus here on the knee, designed as a compliant human-like knee instead of a classical pin-joint, and on the foot, characterised by the mobility and lightness of the human foot. We implemented an elastic actuator, with a simple position control paradigm that sets the joint stiffness in real time, and developed the basic controller. Results in simulation are discussed. In our approach the robot gains in adaptability and energetic efficiency, which are the most challenging issues for a biped robot.http://dx.doi.org/10.1080/11762320902734190 |
| spellingShingle | Giuseppina Gini Umberto Scarfogliero Michele Folgheraiter New Joint Design to Create a More Natural and Efficient Biped Applied Bionics and Biomechanics |
| title | New Joint Design to Create a More Natural and Efficient Biped |
| title_full | New Joint Design to Create a More Natural and Efficient Biped |
| title_fullStr | New Joint Design to Create a More Natural and Efficient Biped |
| title_full_unstemmed | New Joint Design to Create a More Natural and Efficient Biped |
| title_short | New Joint Design to Create a More Natural and Efficient Biped |
| title_sort | new joint design to create a more natural and efficient biped |
| url | http://dx.doi.org/10.1080/11762320902734190 |
| work_keys_str_mv | AT giuseppinagini newjointdesigntocreateamorenaturalandefficientbiped AT umbertoscarfogliero newjointdesigntocreateamorenaturalandefficientbiped AT michelefolgheraiter newjointdesigntocreateamorenaturalandefficientbiped |