Simple and low-cost compliant leg-foot system

Meyer, F, Spröwitz, A, Lungarella, M and Berthouze, L (2004) Simple and low-cost compliant leg-foot system. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan.

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Abstract

We describe a simple and low-cost humanoid leg design with compliant joints and springy feet. Mechanical compliance is achieved by combining visco-elastic material with metal. Joints and feet characteristics are evaluated by repeatedly dropping the system from a fixed height. Different joint configurations (silicone rubber, latex and brass) and foot compliance are examined, and additional data are obtained with a Lagrangian analysis of the system. We show that compliance not only reduces impact forces, but also induces smoother joint trajectories.

Item Type: Conference or Workshop Item (Paper)
Schools and Departments: School of Engineering and Informatics > Informatics
Depositing User: Luc Berthouze
Date Deposited: 06 Feb 2012 19:54
Last Modified: 13 Apr 2012 10:53
URI: http://sro.sussex.ac.uk/id/eprint/22918
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