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Locomotive Underactuated Implement Guided via Elastic Elements (L.U.I.G.E.E): A Preliminary Design

[+] Author Affiliations
Thomas Reilly, Jerome K. O’Rourke, Daniel Steudler, Davide Piovesan

Gannon University, Erie, PA

Roberto Bortoletto

University of Padua, Padua, Italy

Paper No. IMECE2015-50567, pp. V003T03A067; 10 pages
  • ASME 2015 International Mechanical Engineering Congress and Exposition
  • Volume 3: Biomedical and Biotechnology Engineering
  • Houston, Texas, USA, November 13–19, 2015
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5738-0
  • Copyright © 2015 by ASME


This paper presents the simulation and fabrication of a bipedal humanoid system actuated with linear springs to produce a standing equilibrium position.

The humanoid system is comprised of two leg assemblies connected by a hip bracket. Eleven pairs of springs were attached to the system in locations designed to simulate the muscles and tendons in a human body. The assembly was modeled in the multi-body dynamics simulation software SimWise 4D. Simulations were performed to determine the springs’ stiffness and natural lengths using a top-down heuristic approach. After a set of springs were found to produce a good simulated stable position, they were cross referenced to standard commercially-available parts. A final simulation was then performed to verify that the real-world spring values produced a stable system.

Working in tandem with SimWise 4D, the humanoid assembly was fabricated using PLA plastic via an extrusion-type rapid prototyping machine. From the results of the simulation, the set of working springs were implemented onto the plastic model. After final modifications, the assembly then produced a standing equilibrium position. Finally, the assembly was perturbed in several directions to ensure that after the system experienced a displacement it would then return to its original position.

Copyright © 2015 by ASME



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