Title :
Study on ankle mechanism for walking robots: development of 2 d.o.f. coupled drive ankle mechanism with wide motion range
Author :
Ogata, Masaru ; Hirose, Shigeo
Author_Institution :
Dept. of Mechano-Aerospace Eng., Tokyo Inst. of Technol., Japan
fDate :
28 Sept.-2 Oct. 2004
Abstract :
To accomplish high mobility and working performance, an active ankle mechanism with multi-degrees of freedom is required for multi-legged walking vehicle. In this paper, a novel active ankle mechanism with 2 degrees of freedom is proposed. This mechanism has large workspace, high mechanical strength and coupled driving system.
Keywords :
legged locomotion; robot kinematics; vehicles; ankle mechanism; coupled driving system; mechanical strength; multilegged walking vehicle; walking robot; wide motion range; Automotive engineering; Humanoid robots; Leg; Legged locomotion; Mobile robots; Robotics and automation; Service robots; Torso; Vehicles; Wrist;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389910
