ICRA 2011 Paper Abstract


Paper WeAV115.4

Koh, Je-Sung (Seoul National University), Cho, Kyu-Jin (Seoul National University)

Endoskeletons Using Composite Flexure Joint for Biomimetic Meso-Scale Robot

Scheduled for presentation during the Video Sessions "Video Session I: Aerial and Mobile Robotics" (WeAV115), Wednesday, May 11, 2011, 08:44−08:52, Room 3A

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 July 14, 2020

Keywords Mechanism Design of Mobile Robots, Compliant Joint/Mechanism, Biologically-Inspired Robots


In this video, composites and a polymer flexure joint are used to design mechanical elements. This composite structure can be applied to endoskeleton structures of biomimetic meso-scale robot. The basic active unit of the structure is a revolute joint with an SMA spring actuator that imitates a joint and muscle formation. The conventional mechanical element is replaced by composite structures design on 2D pattern. Using these elements, prototypes of a robot are fabricated to verify feasibility of application of the robot.



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