Publication

Hanyang University HumanRobotics Lab

International Conference
Design of a redundantly actuated leg mechanism
Conference
IEEE International Conference on Robotics and Automation
Author
B. R. So, B. -J. Yi, W. Kim, S. -R. Oh, J. Park, and Y. S. Kim
Year
2003
Date
2003.09.14
File
[2003]Design of redundantly actuated leg mechanism.pdf (332.5K) 0회 다운로드 DATE : 2020-10-17 20:30:57
In a humanoid robot system, many human-body motions such as walking, running and jumping require large power. To achieve a high power-to-weight ratio, this paper proposes a new design of the leg mechanism using parallel kinematic chains involving redundant actuators. The kinematics for the leg mechanism is derived and a kinematic index to measure force transmission ratio are introduced. It is demonstrated through simulation that incorporation of redundant actuator into the leg mechanism enhances the power of the mechanism approximately 4 times of the minimum actuation. The leg mechanism is developed and has been integrated into the biomimetic system for the purpose of payload enhancement.