Development of a Novel Bi-directional Adjustable Stiffness Artificial Tendon for Energy Efficient Bipedal Walking Development of a Novel Bi-directional Adjustable Stiffness Artificial Tendon for Energy Efficient Bipedal Walking

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Author(s)

    • Omer Aiman
    • Graduate School of Creative Science and Engineering, Waseda University
    • Lim Hun-ok
    • Department of Mechanical Engineering, University of Kanagawa
    • Takanishi Atsuo
    • Department of Mechanical Engineering Waseda University:Humanoid Robotics Institute, Waseda University

Abstract

Bipedal Walking Robot uses harmonic gears in its leg joints in order to provide high torque. However, those mechanisms increase the leg's weight that automatically increases the required energy. Replacing the drivable gear system with an adjustable stiffness mechanism might help to increase the energy efficiency. In this research we purpose a novel adjustable stiffness mechanism that can be attached to the ankle joint. The developed mechanism can provide passive and active controlled motion, which might help the robot to walk with less energy.

Journal

  • The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM

    The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2015.6(0), 124-125, 2015

    The Japan Society of Mechanical Engineers

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