IROS 2015 Paper Abstract


Paper ThDT12.3

Everarts, Christophe (Université Catholique de Louvain), Dehez, Bruno (Université catholique de Louvain), Ronsse, Renaud (Université catholique de Louvain)

Novel Infinitely Variable Transmission Allowing Efficient Transmission Ratio Variations at Rest

Scheduled for presentation during the Regular session "Actuation and Mechanism" (ThDT12), Thursday, October 1, 2015, 14:30−14:45, Saal C3

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Joint/Mechanism Design, Mechanism Design, Humanoid and Bipedal Locomotion


Recent studies showed that Continuously Variable Transmissions (CVT) and Infinitely Variable Transmissions (IVT) can considerably improve the locomotion efficiency in legged robot. A CVT is a transmission whose ratio can be continuously varied and an IVT is a transmission whose ratio can be continuously varied from positive to negative values. However, efficient use of such transmissions in walking applications requires changing the transmission ratio at a minimal energy cost, even at rest, i.e. when the input shaft is not rotating. This contribution proposes a novel CVT and IVT principle which can achieve such ratio variations at rest. The presented CVT is a modified planetary gear, whose planets are conical and mounted on inclined shafts, and whose ring is made of contiguous diabolo-shaped rollers. This configuration enables the control of the transmission ratio by adjusting the point of contact between the cones and rollers that comprise the ring. A traditional planetary gear system can be added to the CVT to form an IVT.



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