Concept and Design of Continuum Joints for the Use in a Dynamic Walking Robot

Abstract

In this thesis, a concept as well as a design of a lightweight, anthropomorphically inspired robotic torso based a continuum joint is presented. In an experimental testbed, the principle variable resonance behaviour of the non-linearly behaving overall system, consisting of continuum and cable actuation, is shown. The rotational torque transmission supported by the resonant superposition is realised by a tripod joint, so that the underactuated but robust behaviour of the continuum is preserved. The actuation is designed to allow a backdrivable operation. In addition, the actuation used, allows to realise and study anthropomorphic inspired movement coupling.