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Nonlinearly actuated biped robot leg: Simulation and experimental results

Caballero R., Akinfiev T., Armada M.

Systems Science

2001

Vol. 27, nr 4

59-70

In this paper, a new way for driving the joints of a biped robot leg by using a special purpose non-linear actuator is presented. In the authors' opinion, using constant transmission ratio in each biped robot joint is not the right choice, specially if the speed of movement, stability, and autonomy are among the main goals. The objective of this paper is to show simulation and experimental results of a nonlinear transmission ratio driven leg that naturally compensates gravity forces and provides self-decreasing velocity as it approximates to the end points of its nominal trajectory, without losing locomotion kinematics capabilities.