DocumentCode
495856
Title
Bioinspired hydraulic joint for highly redundant robotic platforms
Author
Lira, Cristian ; Menon, Carlo ; Kianfar, Kaveh ; Scarpa, Fabrizio
Author_Institution
Dept. of Aerosp. Eng., Univ. of Bristol, Bristol, UK
fYear
2009
fDate
22-24 June 2009
Firstpage
434
Lastpage
438
Abstract
By taking inspiration from the hydraulic system of spiders, we have conceived a novel hydraulic flexible joint suitable to be miniaturized and embedded in robotic platforms. The hydraulic flexible join has a modular design-joints can be positioned in series to obtain highly redundant configurations. In this paper, the design of the hydraulic joint is proposed and its performance is discussed.
Keywords
hydraulic control equipment; mobile robots; bio-inspired hydraulic flexible joint; highly redundant robotic platforms; locomotion system; modular design-joints; Animal structures; Contracts; Exoskeletons; Flexible structures; Hydraulic systems; Intelligent actuators; Intelligent robots; Leg; Legged locomotion; Robot sensing systems; Hydraulic system; bio-inspired robotic system; flexible structure; smart actuator;
fLanguage
English
Publisher
ieee
Conference_Titel
Reconfigurable Mechanisms and Robots, 2009. ReMAR 2009. ASME/IFToMM International Conference on
Conference_Location
London
Print_ISBN
978-88-89007-37-2
Electronic_ISBN
978-1-876346-58-4
Type
conf
Filename
5173865
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