An asymmetric compliant antagonistic joint design for high performance mobility

This paper presents the design of a novel compliant joint for high performance mobility. The design principle of the joint is based on an asymmetric compliant antagonistic scheme which is actuated by two motors of different power capability and efficiency. Torques from the two motors are transmitted to the joint through two elastic elements of different stiffness and energy storage capacity. The proposed compliant joint design combines high power performance, large energy storage capacity and physical resilience all necessary features for performing high performance mobility such as agile locomotion. The paper introduces the principle of operation, the design and mechanical implementation of the joint. Preliminary experimental trials demonstrate the joint performance in a single degree of freedom leg prototype system.