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Simple and low-cost compliant leg-foot system

Meyer, F; Spröwitz, A; Lungarella, M; Berthouze, L; (2004) Simple and low-cost compliant leg-foot system. In: (pp. pp. 515-520).

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Abstract

We describe a simple and low-cost humanoid leg design with compliant joints and springy feet Mechanical compliance is achieved by combining visco-elastic material with metal. Joints and feet characteristics are evaluated by repeatedly dropping the system from a fixed height. Different joint configurations (silicone rubber, latex and brass) and foot compliance are examined, and additional data are obtained with a Lagrangian analysis of the system. We show that compliance not only reduces impact forces, but also induces smoother joint trajectories.

Type: Proceedings paper
Title: Simple and low-cost compliant leg-foot system
ISBN: 0780384636
UCL classification: UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Pop Health Sciences > UCL GOS Institute of Child Health
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Pop Health Sciences > UCL GOS Institute of Child Health > ICH Developmental Neurosciences Prog
URI: http://discovery.ucl.ac.uk/id/eprint/10035609
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