Mechanism and Structures: Humanoids and Quadrupeds - Bioinspired Approaches for Human-Centric Technologies - page 144

Table 5.2 Range of motion
of joints

Joint Range of motion ()

Hip flexion/extension +45, -110

Hip abduction/adduction +60, -25

Thigh rotation +50, -50

Knee flexion/extension +110, -10

Ankle flexion/extension +70, -50

Ankle inversion/eversion +35, -35

Ankle twist Not implemented

Waist pitch +50, -20

Waist roll +30, -30

Waist yaw +80, -80

Shoulder flexion/extension +95, -195

Shoulder abduction/adduction +120, -18

Upper arm rotation +90, -90

Elbow flexion/extension +135, 0

Fig. 5.11 (a) Knee joint and (b) custom design force torque sensor

by CompAct actuator (peak torque of 55 Nm) that is placed at the calf section.
Torque to the ankle pitch motion is transferred through a four bar link transmission.
The last DOF which produces ankle inversion/eversion uses a stiff actuator (peak
torque of 55 Nm) located on the foot plate and directly coupled to the ankle roll
joint.
In addition to the torque sensing in the individual joints, there are custom-
designed DOF force/torque sensors integrated below the ankle joint to measure
the interaction forces between the foot and the ground, Fig. 5.11 .

5.4.1.4 Torso and Arm Design

The torso serves as a housing for the onboard processing unit and power autonomy
system which includes the batteries and the battery management system. The core
of the torso is made in titanium to give stiffness, strength and low weight to this