Gait Hip » History » Revision 5
Revision 4 (Hannes Rúnar Herbertsson, 2012-01-19 09:55) → Revision 5/10 (Hannes Rúnar Herbertsson, 2012-01-19 10:10)
h1. Gait Hip
Hip joint
Extenion -> Flextion ->
* Initial contact
-Flextion (30° thigh forward)
* Loading response
-Function -> maintain hip stability
* Mid stance
-extention (from 30° flextion to full extention)
* Terminal stance
-Hyperextension (3°)
* Pre-swing
-flextion
h2. Brainstorm
ideas that came from google research
* Parallel mechanism
-link to PDF "here":http://www.irt.uni-hannover.de/forschung/asr/aeye_a4.pdf
-Video link you have to search the list for parallel mechanism (agile Eye) "here":http://www.expo21xx.com/automation21xx/14929_st3_university/default.htm
* We can aslo use a 3 motor system where each of the motor moves in different planes
h3. Our hip joint (Items that are crucial)
* 3 motors, to be able to move in 3D
* Has to be strong enough to carry the weight of the leg
* The hip joint does not have to be modular
"Picture to our hip joint":https://projects.cs.ru.is/attachments/download/135/Hip%20joint.jpg