Design and Development of the Biped Prototype ROBIAN
نویسندگان
چکیده
I n order to study the human being locomotion system, a multi-degrees of freedom (DOFs) biped prototype equipped with flexible feet, which is named as ROBIAN, is developed. I n this paper, the conceptual design of the biped prototype R O B I A N is discussed. The features of the R O B I A N are: (a) parallel mechanism at the hip and the ankle, (b) modular design and (c) 1DOF active/passive joint between the heel and the toe. The ROBIAN will have 18-DOFs in total: 6-DOFs for each leg, 1-DOF passive or active joint for each foot and 4-DOFs for the upper limb. One of the major application of the R O B I A N will be the eficient development of a real testbed of active/passive prosthesis for the disabled.
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