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Simple and low-cost compliant leg-foot system
conference contribution
posted on 2023-06-08, 00:31 authored by F Meyer, A Spröwitz, M Lungarella, Luc BerthouzeLuc BerthouzeWe describe a simple and low-cost humanoid leg design with compliant joints and springy feet. Mechanical compliance is achieved by combining visco-elastic material with metal. Joints and feet characteristics are evaluated by repeatedly dropping the system from a fixed height. Different joint configurations (silicone rubber, latex and brass) and foot compliance are examined, and additional data are obtained with a Lagrangian analysis of the system. We show that compliance not only reduces impact forces, but also induces smoother joint trajectories.
History
Publication status
- Published
Journal
2004 IEEE/RSJ International Conference on Intelligent Robots and SystemsPublisher
IEEE PressVolume
1Page range
1Pages
6.0Event name
IEEE/RSJ International Conference on Intelligent Robots and SystemsEvent location
Sendai, JapanEvent type
conferenceEvent date
28 September - 2 OctoberISBN
0780384636Department affiliated with
- Informatics Publications
Full text available
- No
Peer reviewed?
- Yes