Development of a Novel Bi-directional Adjustable Stiffness Artificial Tendon for Energy Efficient Bipedal Walking
Pages 124-125
Details
Pages 124-125
Bipedal Walking Robot uses harmonic gears in its leg joints in order to provide high torque. However, those mechanisms increase the leg's weight that automatically increases the required energy. Replacing the drivable gear system with an adjustable stiffness mechanism might help to increase the energy efficiency. In this research we purpose a novel adjustable stiffness mechanism that can be attached to the ankle joint. The developed mechanism can provide passive and active controlled motion, which might help the robot to walk with less energy.
