Event
Nonlinear Parallel Coupling Design for Humanoid Leg Knee-Ankle Validated
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Rohit Kumar and other authors propose a serial-parallel humanoid leg design that combines a knee parallel mechanism, an ankle parallel mechanism, and nonlinear knee-ankle coupling, with all actuators placed near the hip. The authors state that they derived the nonlinear transmission model of this coupling and validated it in simulation and on hardware. According to the paper's data, 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 during knee flexion, and assists plantarflexion for push-off during knee extension.
Report timeline
- 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.
arXiv cs.RO ·