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Robotics 2016, 5(3), 15; doi:10.3390/robotics5030015

Biomimetic Spider Leg Joints: A Review from Biomechanical Research to Compliant Robotic Actuators

Faculty of Mechanical Engineering—Bionicum Research/3D-Visualisierungszentrum, Nuremberg Institute of Technology—Georg Simon Ohm, Nuremberg D-90489, Germany
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Author to whom correspondence should be addressed.
Academic Editor: Gursel Alici
Received: 30 May 2016 / Revised: 6 July 2016 / Accepted: 7 July 2016 / Published: 15 July 2016
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Abstract

Due to their inherent compliance, soft actuated joints are becoming increasingly important for robotic applications, especially when human-robot-interactions are expected. Several of these flexible actuators are inspired by biological models. One perfect showpiece for biomimetic robots is the spider leg, because it combines lightweight design and graceful movements with powerful and dynamic actuation. Building on this motivation, the review article focuses on compliant robotic joints inspired by the function principle of the spider leg. The mechanism is introduced by an overview of existing biological and biomechanical research. Thereupon a classification of robots that are bio-inspired by spider joints is presented. Based on this, the biomimetic robot applications referring to the spider principle are identified and discussed. View Full-Text
Keywords: actuator; biomimetic; pneumatic; spider leg mechanism; robotic application; fluidic actuator; biomimetic; pneumatic; spider leg mechanism; robotic application; fluidic
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Landkammer, S.; Winter, F.; Schneider, D.; Hornfeck, R. Biomimetic Spider Leg Joints: A Review from Biomechanical Research to Compliant Robotic Actuators. Robotics 2016, 5, 15.

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