This paper proposes a novel leg design for a humanoid robot that can be 3D printed. More explicitly, the efforts of this paper are to bring some of the more complex leg designs seen in large scale bipedal robot into the realm of smaller bipeds while still allowing for it to be easily reproducible or modified. In order to accomplish this 3D printing technology was utilized, as well as an iterative design process. An ankle and knee powered by linear actuators were first constructed to test the conceptual design of the leg. This was followed by a complete leg design with improved ankle and knee, along with the rest of the leg.
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