A Low-Inertia and High-Stiffness Cable-Driven Biped Robot: Design, Modeling, and Control
Jun Tang,
Haiming Mou,
Yunfeng Hou
et al.
Abstract:In this paper, a biped robot system for dynamic walking is presented. It has two 2-degree-of-freedom (DOF) lightweight legs and a 6-DOF hip. All the joint pulleys of the legs are driven by motors that are placed at the hip using steel cables. Since all the heavy motors are mounted at the hip, the biped robot has remarkably low-mass legs beyond the hip, which guarantees low inertia during walking at high speeds. Utilizing cable-amplification mechanisms, high stiffness and strength are achieved, resulting in bet… Show more
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