Compliance for a cross four-bar knee joint

Arnaud Hamon (1) , Yannick Aoustin (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

We propose a mechanical design for the knee joints of a planar bipedal robot. Each knee joint is composed of cross four-bar with springs. The dynamic model of a planar bipedal robot with cross four-bar knees and a parametric optimiza- tion problem are presented to produce a set of optimal reference trajectories. We use these trajectories to compare the performance of the bipedal robot with respect to different physical characteristics of the knee joints.

Domaines: Automatique / Robotique

Arnaud Hamon, Yannick Aoustin. Compliance for a cross four-bar knee joint. The 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Sep 2011, Paris, France. pp.743-750. ⟨hal-00591830⟩