ICRA 2011 Paper Abstract


Paper TuP202.4

van Oort, Gijs (University of Twente), Carloni, Raffaella (University of Twente), Borgerink, Dian J. (University of Twente), Stramigioli, Stefano (University of Twente)

An Energy Efficient Knee Locking Mechanism for a Dynamically Walking Robot

Scheduled for presentation during the Regular Sessions "Legged Locomotion" (TuP202), Tuesday, May 10, 2011, 16:10−16:25, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Humanoid and Bipedal Locomotion, Mechanism Design of Mobile Robots, Passive Walking


In this work, we present the design and the implementation of an innovative knee locking mechanism for a dynamically walking robot. The mechanism consists of a four-bar linkage that realizes a mechanical singularity for locking the knee when the leg is in the extended position. Once extended, the knee remains locked without energy consumption, while unlocking it only costs a small amount of energy. Tests showed that the robot walks robustly and that the energy consumption of the new system is low.



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