Abstract
In the design of the leg mechanism of the conventional humanoid robot, the actuator and the reducer in each joint are selected individually to be larger than the maximum static torque exerted on the joint. For the case of humanoid, some joint, e.g. knee joint, bears large static torque due to the configuration and needs a reducer with large gear ratio. It results in heavier joint and lower mobility. To solve the problem, a leg mechanism with drive torque sharing spring and joint stop is proposed in this paper. The concept, design and simulation results are described.
