An energy efficient knee locking mechanism for a dynamically walking robot

Gijs Van Oort; Raffaella Carloni; Dian J. Borgerink; Stefano Stramigioli

doi:10.1109/ICRA.2011.5980276

An energy efficient knee locking mechanism for a dynamically walking robot

Gijs Van Oort^*, Raffaella Carloni, Dian J. Borgerink, Stefano Stramigioli

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

31 Citations (Scopus)

Abstract

In this work, we present the design and the implementation of an innovative knee locking mechanism for a dynamically walking robot. The mechanism consists of a four-bar linkage that realizes a mechanical singularity for locking the knee when the leg is in the extended position. Once extended, the knee remains locked without energy consumption, while unlocking it only costs a small amount of energy. Tests showed that the robot walks robustly and that the energy consumption of the new system is low.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages	2003-2008
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2011.5980276
Publication status	Published - 2011
Externally published	Yes
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: 9-May-2011 → 13-May-2011

Conference

Conference	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/Territory	China
City	Shanghai
Period	09/05/2011 → 13/05/2011

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@inproceedings{9c0e67bdc1374058b9edc8b7cb1ba76a,

title = "An energy efficient knee locking mechanism for a dynamically walking robot",

abstract = "In this work, we present the design and the implementation of an innovative knee locking mechanism for a dynamically walking robot. The mechanism consists of a four-bar linkage that realizes a mechanical singularity for locking the knee when the leg is in the extended position. Once extended, the knee remains locked without energy consumption, while unlocking it only costs a small amount of energy. Tests showed that the robot walks robustly and that the energy consumption of the new system is low.",

author = "{Van Oort}, Gijs and Raffaella Carloni and Borgerink, {Dian J.} and Stefano Stramigioli",

year = "2011",

doi = "10.1109/ICRA.2011.5980276",

language = "English",

isbn = "9781612843865",

pages = "2003--2008",

booktitle = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011",

note = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011 ; Conference date: 09-05-2011 Through 13-05-2011",

}

Van Oort, G, Carloni, R, Borgerink, DJ & Stramigioli, S 2011, An energy efficient knee locking mechanism for a dynamically walking robot. in 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5980276, pp. 2003-2008, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 09/05/2011. https://doi.org/10.1109/ICRA.2011.5980276

TY - GEN

T1 - An energy efficient knee locking mechanism for a dynamically walking robot

AU - Van Oort, Gijs

AU - Carloni, Raffaella

AU - Borgerink, Dian J.

AU - Stramigioli, Stefano

PY - 2011

Y1 - 2011

N2 - In this work, we present the design and the implementation of an innovative knee locking mechanism for a dynamically walking robot. The mechanism consists of a four-bar linkage that realizes a mechanical singularity for locking the knee when the leg is in the extended position. Once extended, the knee remains locked without energy consumption, while unlocking it only costs a small amount of energy. Tests showed that the robot walks robustly and that the energy consumption of the new system is low.

AB - In this work, we present the design and the implementation of an innovative knee locking mechanism for a dynamically walking robot. The mechanism consists of a four-bar linkage that realizes a mechanical singularity for locking the knee when the leg is in the extended position. Once extended, the knee remains locked without energy consumption, while unlocking it only costs a small amount of energy. Tests showed that the robot walks robustly and that the energy consumption of the new system is low.

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U2 - 10.1109/ICRA.2011.5980276

DO - 10.1109/ICRA.2011.5980276

M3 - Conference contribution

AN - SCOPUS:84867451051

SN - 9781612843865

SP - 2003

EP - 2008

BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

Y2 - 9 May 2011 through 13 May 2011

ER -

An energy efficient knee locking mechanism for a dynamically walking robot

Abstract

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