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Welcome to BRUCE (Bipedal Robot Unit with Compliannce Enhanced) Wiki, where we update infomation on hardware and software of BRUCE.
About BRUCE Project
Bipedal Robot Unit with Compliance Enhanced (BRUCE) is a low-cost miniature bipedal robotic platform for dynamic behaviors. BRUCE has a total height of 660 mm adapting an average human body proportion. It is composed of a torso, two 3-DoF arms, and two 5-DoF legs. Each arm of BRUCE has a ball shoulder joint and a single DoF elbow joint. Each leg of BRUCE has a spherical hip joint, a single DoF knee joint, and a single DoF ankle joint. Each foot has a line contact with the ground. To have better torque transparency and compliance to the unknown environment, proprioceptive actuation is equipped for each leg joint, using the Koala BEAR actuators. Moreover, BRUCE's legs are designed to have low inertia for performing highly dynamic motions. A 2-DoF parallel actuation configuration realized by a cable-driven differential pulley system is applied to the hip joint to reduce the mass and inertia of the femur link. Meanwhile, two pairs of 4-bar linkage mechanisms are used to relocate the ankle actuator to the femur link for the light weight of the tibia link.