1A1-S03 Performance enhancement of bipedal robots : Development of the knee joint with the combination of the joint stop and the cross link with variable reduction ratio(Walking Robot)

Abstract

In this paper, we propose a joint stop mechanism in addition to the cross link mechanism in our previous research. This mechanism consisting of the joint stop, torsional spring and spacer is introduced into the knee joint of our bipedal robot. The aim of this research is to address the reduction of power consumption in walking by the proposed mechanism. The function of joint stop mechanism is to temporarily fix the knee joint to a certain angle when performing extension walking. As a result, we succeeded to cut down energy consumption by assisting torques to actuators by the joint stop.