| _version_ | 1866901823578701824 |
|---|---|
| author | Kumar, Utkarsh |
| author_facet | Kumar, Utkarsh |
| contents | <p>This paper presents an original design concept for a friction-drive spherical hip actuator intended for humanoid robotic applications. The mechanism uses two spring-loaded, rubber-tired wheels mounted orthogonally within a femoral head, pressing against a Kevlar-lined acetabular socket to generate multi-axis torque within a single spherical joint envelope. Three degrees of freedom are achieved without stacked servo axes.</p> <p>The work includes kinematic analysis, torque transmission modelling, slip condition derivation, and comparison with conventional servo-based approaches. Passive position retention under power loss is identified as a key safety advantage of the design.</p> <p>This mechanism was conceived during the independent development of Anaxia, a low-budget humanoid bipedal robot, by the author as a Class 12 student project.</p> <p>CAD model (STEP format) included.</p> <p>The author welcomes critique, suggestions, and collaboration. Contact: <a href="mailto:uk6570139@gmail.com">uk6570139@gmail.com</a></p> |
| format | Recurso digital |
| id | zenodo_https___doi_org_10_5281_zenodo_19128792 |
| institution | Zenodo |
| language | |
| publishDate | 2026 |
| publisher | Zenodo |
| record_format | zenodo |
| spellingShingle | Design Concept for a Friction-Drive Spherical Hip Actuator Using Orthogonal Spring-Loaded Wheels Kumar, Utkarsh robotics spherical joint friction drive humanoid robot hip actuator mechanism design bipedal locomotion kevlar multi dof actuator <p>This paper presents an original design concept for a friction-drive spherical hip actuator intended for humanoid robotic applications. The mechanism uses two spring-loaded, rubber-tired wheels mounted orthogonally within a femoral head, pressing against a Kevlar-lined acetabular socket to generate multi-axis torque within a single spherical joint envelope. Three degrees of freedom are achieved without stacked servo axes.</p> <p>The work includes kinematic analysis, torque transmission modelling, slip condition derivation, and comparison with conventional servo-based approaches. Passive position retention under power loss is identified as a key safety advantage of the design.</p> <p>This mechanism was conceived during the independent development of Anaxia, a low-budget humanoid bipedal robot, by the author as a Class 12 student project.</p> <p>CAD model (STEP format) included.</p> <p>The author welcomes critique, suggestions, and collaboration. Contact: <a href="mailto:uk6570139@gmail.com">uk6570139@gmail.com</a></p> |
| title | Design Concept for a Friction-Drive Spherical Hip Actuator Using Orthogonal Spring-Loaded Wheels |
| topic | robotics spherical joint friction drive humanoid robot hip actuator mechanism design bipedal locomotion kevlar multi dof actuator |
| url | https://doi.org/10.5281/zenodo.19128792 |