Novel Design of Biped Robot Using Cable Differential Joint

Abstract:

In this paper, a novel design of cable differential joint for biped robot is proposed. The transmission of joint is cable and operates in differential mode. Then, cable differential joints are employed to the humanoid robot BHLEG for its torque redistribution, 3-Degree of Freedom (DOF) cable differential joint for hip, one DOF joint for knee, and 2-DOF cable differential joint for ankle. According to the distribution of human energy, torque redistribution of cable differential joint can reduce the power consumption of actuator. Simultaneously, the peak torque and size of actuator is reduced. The aim of this paper is to verify a simplest mechanism for biped walking with lower energy consumption.

• Periodical: Advanced Materials Research (Volumes 479-481)
• Pages: 2307-2310
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.479-481.2307
• Online since: February 2012
• Authors: Hui Wei, Mei Shuai, Zhong Yu Wang
• Keywords: Biped Robot, Cable Differential Joint, Energy Consumption (EC)

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