IEEE ICRA'07 Digest Template

1
Human-oriented biped robot design insights
into the development of a truly anthropomorphic
leg
Giuseppina Gini and Michele Folgheraiter DEI,
Politecnico di Milano, Italy Umberto
Scarfogliero IMT Lucca Institute for advanced
studies, Italy

• We discuss the design of a biped bio-inspired
  robot. In particular
• The knee joint, with rolling surfaces and
  artificial tendons
• The foot design, with 2 passive dofs
• We debate the energetic improvements of such
  design over the traditional joints used in biped
  robots.

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