Bio-inspired compliant spine for humanoid robot a degrees of freedom challenge

Abstract

Taking into consideration the architecture of the human spine, we propose the construction of a module whose series could be used as a robotic spine*. This module is basically constituted by an elastic diabolo, which mimics the vertebral bodies and the intervertebral disc, joining two metallic setsquares - the two consecutive vertebrae. Two actuators realize the actuation of the module and are oriented parallel to the main axis of the diabolo. This simple compliant model allowed us to construct a demonstrator that will be used to measure the incidence of active and passive movements of the model. From the knowledge of these results we will design a new compliant system in place of the elastic diabolo whose characteristics will be adequate to the convenient properties of the spine that could be included in humanoid machines.