A bio-inspired condylar hinge joint for mobile robots

Appolinaire C. Etoundi*, Ravi Vaidyanathan, Stuart C. Burgess

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

21 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages4042-4047
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 25 Sep 201130 Sep 2011

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period25/09/1130/09/11

Keywords

  • bioinspired hinge joint
  • Cruciate ligaments
  • four-bar mechanism
  • moving centre of rotation

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