Abstract
In order to improve the dynamic motion ability of the biped robot, a joint with high torque output and high backdrivability is required. In this paper, a new leg mechanism using a joint with continuously variable reduction ratio inspired by human joint structure is proposed. This mechanism possesses high actuation capability and high impact resistance ability. Based on the characteristics of jumping motion, the parameters of the joint are optimized to increase the jumping height of the robot. A contrast simulation was implemented on a one-legged model to show the advantages of the variable reduction ratio joint over fixed reduction ratio joint. The newly designed joint can increase the jumping height of the robot by 21% comparing with a model without the mechanism. A prototype of one-legged robot using the designed joint with continuously variable reduction ratio has been developed. Vertical jump experiment on the prototype is realized with a height of 42 cm.
This work was supported in part by the National Key Research and Development Project under Grant No. 2018YFE0126200.
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Weng, Y. et al. (2022). Leg Mechanism Design of a Jumping Robot with Variable Reduction Ratio Joint. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13455. Springer, Cham. https://doi.org/10.1007/978-3-031-13844-7_25
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DOI: https://doi.org/10.1007/978-3-031-13844-7_25
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