Abstract
This paper presents a bio-inspired design of hinge joint for mobile robots based on the human knee joint. The joint mimics the curved profiles of the femur and tibia bones and also mimics the four-bar motion of the cruciate ligaments. The bio-inspired design has the same desirable features of a natural knee joint including compactness, a moving centre of rotation, high strength, high stiffness and locking in the upright position. These characteristics are important for mobile robots where there are often tight space and mass limitations. Numerical analysis and experimental tests have shown that the new hinge joint has superior performance to a pin jointed hinge in terms of stiffness and mechanical advantage.
| Translated title of the contribution | A bio-inspired condylar hinge for mobile robots |
|---|---|
| Original language | English |
| Pages | 4042 - 4047 |
| Number of pages | 5 |
| DOIs | |
| Publication status | Published - 2011 |
| Event | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - San Francisco, United States Duration: 25 Sep 2011 → 30 Sep 2011 |
Conference
| Conference | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
|---|---|
| Country/Territory | United States |
| City | San Francisco |
| Period | 25/09/11 → 30/09/11 |
Bibliographical note
Editors: Nancy M. AmatoISBN: 9781612844541
Name and Venue of Conference: IROS - International Conference on Intelligent Robots and Systems
Name and Venue of Event: San Francisco, USA
Conference Organiser: IEEE/RSJ
Other: IEEE Catalog Number: CFP11IRO-PRT
Keywords
- bio-inspired hinge joint
- cruciate ligaments
- four-bar mechanism
- moving centre of rotation