New ankle actuation mechanism for a humanoid robot

Gijs van Oort; Roelof Reinink; Stefano Stramigioli

doi:10.3182/20110828-6-IT-1002.03772

New ankle actuation mechanism for a humanoid robot

Gijs van Oort, Roelof Reinink, Stefano Stramigioli

Research output: Contribution to journal › Conference article › Academic › peer-review

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Abstract

In this article we discuss the design of a new ankle actuation mechanism for the humanoid robot TUlip. The new mechanism consists of two coupled series-elastic systems. We discuss the choice of actuators according to calculations for maximum achievable walking speed. Some control issues, MIMO and non-linearities are also discussed.

Original language	English
Pages (from-to)	8082-8088
Number of pages	7
Journal	IFAC proceedings volumes
Volume	44
Issue number	1
DOIs	https://doi.org/10.3182/20110828-6-IT-1002.03772
Publication status	Published - 28 Aug 2011
Event	18th IFAC World Congress 2011 - Milan, Italy Duration: 28 Aug 2011 → 2 Sept 2011 Conference number: 18 https://www.ifac2011.org/

Keywords

2024 OA procedure
Actuators
Walking
Series elastic actuation
Mechanisms
EC Grant Agreement nr.: FP7/231554
Humanoid robots

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10.3182/20110828-6-IT-1002.03772

ArticleFinal published version, 626 KBLicence: Taverne

Cite this

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title = "New ankle actuation mechanism for a humanoid robot",

abstract = "In this article we discuss the design of a new ankle actuation mechanism for the humanoid robot TUlip. The new mechanism consists of two coupled series-elastic systems. We discuss the choice of actuators according to calculations for maximum achievable walking speed. Some control issues, MIMO and non-linearities are also discussed.",

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AU - van Oort, Gijs

AU - Reinink, Roelof

AU - Stramigioli, Stefano

N1 - Conference code: 18

PY - 2011/8/28

Y1 - 2011/8/28

N2 - In this article we discuss the design of a new ankle actuation mechanism for the humanoid robot TUlip. The new mechanism consists of two coupled series-elastic systems. We discuss the choice of actuators according to calculations for maximum achievable walking speed. Some control issues, MIMO and non-linearities are also discussed.

AB - In this article we discuss the design of a new ankle actuation mechanism for the humanoid robot TUlip. The new mechanism consists of two coupled series-elastic systems. We discuss the choice of actuators according to calculations for maximum achievable walking speed. Some control issues, MIMO and non-linearities are also discussed.

KW - 2024 OA procedure

KW - Actuators

KW - Walking

KW - Series elastic actuation

KW - Mechanisms

KW - EC Grant Agreement nr.: FP7/231554

KW - Humanoid robots

U2 - 10.3182/20110828-6-IT-1002.03772

DO - 10.3182/20110828-6-IT-1002.03772

M3 - Conference article

SN - 1474-6670

VL - 44

SP - 8082

EP - 8088

JO - IFAC proceedings volumes

JF - IFAC proceedings volumes

IS - 1

T2 - 18th IFAC World Congress 2011

Y2 - 28 August 2011 through 2 September 2011

ER -

New ankle actuation mechanism for a humanoid robot

Abstract

Keywords

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