@inproceedings{740a1a71351f4514968d221a2a4cc134,
title = "Design of variable compliance joint mechanism for legged robots",
abstract = "This paper presents a compliant joint mechanism design, called Compliant Ellipsoid Joint (CEJ). The CEJ consists the two main elements which are plate spring and ellipsoid shape. The force range of this joint mechanism can be easily set by the plate spring and the ellipsoid surface parameters. In the first, we modelled the CEJ and propose a mathematical analysis to tune the force range. The performance of CEJ is verified by experimental validation and the average error between calculated and measured angle along the external load is 1.03 degree (at E=210 GPa).",
keywords = "compliant joint, ellipsoid shape, large beam deflection, SEA",
author = "Lee, \{Yoon Haeng\} and Tin, \{Phan Luong\} and Kim, \{Dong Youn\} and Choi, \{Hyouk Ryeol\}",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 ; Conference date: 28-10-2015 Through 30-10-2015",
year = "2015",
month = dec,
day = "16",
doi = "10.1109/URAI.2015.7358967",
language = "English",
series = "2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "341--342",
booktitle = "2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015",
}