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Biomimetic design of musculoskeletal humanoid knee joint with patella and screw-home mechanism

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9 Author(s)
Asano, Y. ; Grad. Sch. of Interdiscipl. Inf. Studies, Univ. of Tokyo, Tokyo, Japan ; Mizoguchi, H. ; Osada, M. ; Kozuki, T.
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We are trying to create a novel musculoskeletal humanoid robot which has a humanlike structure. In this paper, we present a new knee joint which is usually simplified in robotics for high controllability. The knee joint has three human mimetic points, patella, screw-home mechanism and four-linked linkage. Patella is for a longer moment arm. Screw-home mechanism is for locking knee joint. Four-linked linkage is for making humanlike motion. Furthermore, we confirmed those performances by three experiments.

Published in:

Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on

Date of Conference:

7-11 Dec. 2011