Title :
Biomimetic design of musculoskeletal humanoid knee joint with patella and screw-home mechanism
Author :
Asano, Yuki ; Mizoguchi, Hironori ; Osada, Masahiko ; Kozuki, Toyotaka ; Urata, Junichi ; Izawa, Tamon ; Nakanishi, Yuto ; Okada, Kei ; Inaba, Masayuki
Author_Institution :
Grad. Sch. of Interdiscipl. Inf. Studies, Univ. of Tokyo, Tokyo, Japan
Abstract :
We are trying to create a novel musculoskeletal humanoid robot which has a humanlike structure. In this paper, we present a new knee joint which is usually simplified in robotics for high controllability. The knee joint has three human mimetic points, patella, screw-home mechanism and four-linked linkage. Patella is for a longer moment arm. Screw-home mechanism is for locking knee joint. Four-linked linkage is for making humanlike motion. Furthermore, we confirmed those performances by three experiments.
Keywords :
biomimetics; handicapped aids; humanoid robots; prosthetics; biomimetic design; four-linked linkage; human mimetic points; humanlike motion; moment arm; musculoskeletal humanoid knee joint; patella; robotics; screw-home mechanism; Couplings; Humans; Joints; Knee; Legged locomotion; Muscles;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181553
