This paper is concerned with the development of an anthropometric robotic leg for the humanoid robot, Tyche (Goddess of fortune). The design is based on physiology and anthropometry of human leg. The geometries of the links are finalized based on topological studies and avoidance of singularity condition. Fault tolerant design is incorporated in the design. A pantograph mechanism is used as the control device, which helps in magnifying the input. The kinematic and dynamic analyses are performed on the Tyche-leg. Five different cases are considered based on a cubic input motion profile. The kinematic and dynamic parameters are plotted with respect to time.
Design and Analysis of an Anthropometric Leg of the Humanoid Robot: Tyche
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Yih, TC, Shurpali, MV, Apsangi, S, & Pemmaraju, S. "Design and Analysis of an Anthropometric Leg of the Humanoid Robot: Tyche." Proceedings of the ASME 2002 International Mechanical Engineering Congress and Exposition. Dynamic Systems and Control. New Orleans, Louisiana, USA. November 17–22, 2002. pp. 1051-1058. ASME. https://doi.org/10.1115/IMECE2002-32488
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