Design and Analysis of a Magneto-Rheological Fluid Damper with Non-linear Surfaces to Produce Effective Variable Compliance in a Robotic Transmission

Abstract

Our communities have been designed for human movement; therefore, the development of machines that locomote like humans is a natural approach to mechanical locomotion. Two problems in developing autonomous versions of these machines are energy consumption and the risks associated with the possible impact of robotic components with the humans around them. Research has shown that using variable compliance, or elasticity, in robotic joints can decrease both of these factors. This project is focused on the development of a variable compliance robotic transmission based on Magneto-Rheological (MR) fluid for increasing biped walking efficiency and decreasing the impact forces associated with a possible collision. The results of this study are important in developing autonomous robots that can safely interact with humans for an extended period of time.