Biomimetic Knee Design to Improve Joint Torque and Life for Bipedal Robotics

This paper details the design, construction, and performance analysis of a biologically inspired knee joint for use in bipedal robotics. The design copies the condylar surfaces of the distal end of the femur and utilizes the same crossed four-bar linkage design the human knee uses. The joint include...

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Bibliographic Details
Published inTowards Autonomous Robotic Systems pp. 91 - 102
Main Authors Steele, Alexander G., Hunt, Alexander, Etoundi, Appolinaire C.
Format Book Chapter
LanguageEnglish
Published Cham Springer International Publishing
SeriesLecture Notes in Computer Science
Subjects
Adaptive robotics
Bipedal robot
Condylar hinge joint
Four bar linkages
Knee biomechanics
Knee joint
Screw-home mechanism
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Summary:This paper details the design, construction, and performance analysis of a biologically inspired knee joint for use in bipedal robotics. The design copies the condylar surfaces of the distal end of the femur and utilizes the same crossed four-bar linkage design the human knee uses. The joint includes a changing center of rotation, a screw-home mechanism, and patella; these are characteristics of the knee that are desirable to copy for bipedal robotics. The design was calculated to have an average sliding to rolling ratio of 0.079, a maximum moment arm of 2.7 in and a range of motion of 151°. This should reduce wear and perform similar to the human knee. Prototypes of the joint have been created to test these predicted properties.
ISBN:9783319967271
3319967274
ISSN:0302-9743
1611-3349
DOI:10.1007/978-3-319-96728-8_8