Design of the Wire Driven Ankle Mechanism with High Backdrivability

Abstract

The traditional humanoid joints are controlled by high gain feedback controllers using the high reduction gear Therefore the backdrivability of the joint mechanism is low Consequently the joints disable the dynamical interaction between the robot body and the environment In this paper we design an ankle structure which has high transmission eciency of power and enables a dynamic interaction between the body and the environment because of the drive mechanism composed of pulleys and wire The high reduction gear ratio is realized by using the principle of movable pulley