An Energy Efficient Knee Locking Mechanism for a Dynamically Walking Robot

Gijs van Oort, Raffaella Carloni, Dian J. Borgerink, Dian Borgerink, Stefano Stramigioli

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    21 Citations (Scopus)
    976 Downloads (Pure)

    Abstract

    In this work, we present the design and the implementation of an innovative knee locking mechanism for a dynamically walking robot. The mechanism consists of a four-bar linkage that realizes a mechanical singularity for locking the knee when the leg is in the extended position. Once extended, the knee remains locked without energy consumption, while unlocking it only costs a small amount of energy. Tests showed that the robot walks robustly and that the energy consumption of the new system is low.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages2003-2008
    Number of pages6
    ISBN (Print)978-1-61284-385-8
    DOIs
    Publication statusPublished - May 2011
    Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
    Duration: 9 May 201113 May 2011

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society

    Conference

    Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
    Abbreviated titleICRA
    CountryChina
    CityShanghai
    Period9/05/1113/05/11

    Keywords

    • EWI-15030
    • METIS-277389
    • IR-76067
    • EC Grant Agreement nr.: FP7/231554

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