ROBIAN biped project - a tool for the analysis of the human-being locomotion system

摘要

In 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. In this paper, the conceptual design of the biped prototype ROBIAN is discussed. The features of the ROBIAN are: (a) parallel mechanism at the hip and the ankle, (b) modular design and (c) 1-DOF 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 ROBIAN will be the efficient development of a real testbed of active/passive prosthesis for the disabled.