A bio-inspired condylar hinge joint for mobile robots

Appolinaire C. Etoundi; Ravi Vaidyanathan; Stuart C. Burgess

doi:10.1109/IROS.2011.6048561

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 proceeding › Conference Contribution (Conference Proceeding)

25 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 language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Pages	4042-4047
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2011.6048561
Publication status	Published - 2011
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States Duration: 25 Sept 2011 → 30 Sept 2011

Conference

Conference	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/Territory	United States
City	San Francisco, CA
Period	25/09/11 → 30/09/11

Keywords

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

Access to Document

10.1109/IROS.2011.6048561

Handle.net

Persistent link

Cite this

@inproceedings{243c69d8cf584e5db52d37e46f080db2,

title = "A bio-inspired condylar hinge joint for mobile robots",

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.",

keywords = "bioinspired hinge joint, Cruciate ligaments, four-bar mechanism, moving centre of rotation",

author = "Etoundi, {Appolinaire C.} and Ravi Vaidyanathan and Burgess, {Stuart C.}",

year = "2011",

doi = "10.1109/IROS.2011.6048561",

language = "English",

isbn = "9781612844541",

pages = "4042--4047",

booktitle = "IEEE International Conference on Intelligent Robots and Systems",

note = "2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 ; Conference date: 25-09-2011 Through 30-09-2011",

}

Etoundi, AC, Vaidyanathan, R & Burgess, SC 2011, A bio-inspired condylar hinge joint for mobile robots. in IEEE International Conference on Intelligent Robots and Systems., 6048561, pp. 4042-4047, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 25/09/11. https://doi.org/10.1109/IROS.2011.6048561

TY - GEN

T1 - A bio-inspired condylar hinge joint for mobile robots

AU - Etoundi, Appolinaire C.

AU - Vaidyanathan, Ravi

AU - Burgess, Stuart C.

PY - 2011

Y1 - 2011

N2 - 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.

AB - 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.

KW - bioinspired hinge joint

KW - Cruciate ligaments

KW - four-bar mechanism

KW - moving centre of rotation

UR - http://www.scopus.com/inward/record.url?scp=84455193866&partnerID=8YFLogxK

U2 - 10.1109/IROS.2011.6048561

DO - 10.1109/IROS.2011.6048561

M3 - Conference Contribution (Conference Proceeding)

AN - SCOPUS:84455193866

SN - 9781612844541

SP - 4042

EP - 4047

BT - IEEE International Conference on Intelligent Robots and Systems

T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11

Y2 - 25 September 2011 through 30 September 2011

ER -

A bio-inspired condylar hinge joint for mobile robots

Abstract

Conference

Keywords

Access to Document

Handle.net

Other files and links

Fingerprint

Cite this