A study on trunk stiffness and gait stability in quadrupedal locomotion using musculoskeletal robot
A study on trunk stiffness and gait stability in quadrupedal locomotion using musculoskeletal robot
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DOI：
10.1109/icar.2011.6088641
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发表时间：
2011-06
期刊：
影响因子：
--
通讯作者：
K. Tsujita;K. Miki
中科院分区：
文献类型：
--
作者：
K. Tsujita;K. Miki
在这项研究中，报告了一种改变身体刚度的步态模式稳定性的可行性研究。腿的周期性运动以韵律运动的形式产生。运动的稳定性很大程度上取决于车身机构的力学性能，尤其是关节的刚度。本文利用气动执行器的可变弹性，使机器人后备箱运动的肌张力是可变的。通过硬件实验评价了四足机器人在爬行、小跑和步态三种不同步态下的稳定性。
In this study, a feasibility study on the stability of gait patterns with changeable body stiffness is reported. The periodic motions of the legs are generated as a rhyhmic motion. The stability of locomotion strongly depends on the mechanical properties of the body mechanism, especially the joint stiffness. In this report, the muscle tone of the robot motion at the trunk is changeable by using the changeable elasticity of the pneumatic actuators. The stability of quadruped locomotion in crawl, trot and pace patterns with changeable body stiffness was evaluated with hardware experiments.