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Design and Analysis of an Anthropometric Leg of the Humanoid Robot: Tyche

[+] Author Affiliations
T. C. Yih, Madhu V. Shurpali, Sandeep Apsangi

University of Texas at Arlington, Arlington, TX

Sankar Pemmaraju

University of North Texas Health Science Center, Fort Worth, TX

Paper No. IMECE2002-32488, pp. 1051-1058; 8 pages
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME


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.

Copyright © 2002 by ASME



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