Article

Coupled Design and Analysis of a Nonlinear Parallel Mechanism for Dynamic Humanoid Legs

The paper proposes a series-parallel humanoid leg design that combines a knee parallel mechanism, an ankle parallel mechanism, and a nonlinear knee-ankle coupling, with all actuators placed near the hip. The authors derive coupled nonlinear transmission models and validate them in simulation and on hardware. The 6 kg leg achieves an effective reflected mass of 0.37 kg at the foot end; the coupling passively assists ankle dorsiflexion to lift the foot when the knee flexes, and assists plantarflexion for push-off when the knee extends.

Part of the event: Nonlinear Parallel Coupling Design for Humanoid Leg Knee-Ankle Validated

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