‘Kenken’—A Biologically Inspired One-Legged Running Robot
‘Kenken’—A Biologically Inspired One-Legged Running Robot
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“Kenken”——仿生单腿跑步机器人
DOI：
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
T. Mita
中科院分区：
文献类型：
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作者：
S. Hyon;Satoshi Kamjio;T. Mita
许多生物力学研究表明，肌腱在跑跳运动中起着重要作用。它在站立时将动能储存为势能，并在触地时吸收冲量。受此生物力学研究的启发，我们提出了一种新的简单的力学模型，狗的后肢，以实现机器人模仿狗运行，和单腿跑步机器人的硬件设计，“Kenken”机器人有一个关节腿，使用两个液压驱动器作为肌肉和拉伸弹簧作为肌腱。使用基于模型的特征动力学的经验控制器，机器人已成功地在平面单腿运行。虽然在较高的运行速度的稳定性相关的问题仍然存在，实验结果表明，所提出的腿机构是有效的机器人运行。
As many biomechanists indicate, tendon plays important role for running or jumping motion. It stores the kinetic energy as a potential energy during stance and also absorbs the impulse at touch down. Inspired by such biomechanical studies, we propose a new simple mechanical model for hindlimb of a dog to realize a robot which imitates dog running, and the hardware design of one-legged running robot, “Kenken” The robot has an articulated leg and uses two hydraulic actuators as muscles and a tensile spring as a tendon. Using an empirical controller based on the characteristic dynamics of the model, the robot has succeeded in planar one-legged running. Although the problem related to the stability at the higher running speed remains, the experimental results demonstrate that the proposed leg mechanism is effective for robotic running.
DOI：
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发表时间：
1993-12
期刊：
The Journal of experimental biology
影响因子：
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作者：
C. T. Farley;James W. Glasheen;Thomas A Mcmahon
通讯作者：
C. T. Farley;James W. Glasheen;Thomas A Mcmahon