The development of a mechanical quadruped robot with animal-like muscle arrangement
The development of a mechanical quadruped robot with animal-like muscle arrangement
复制标题
仿动物肌肉排列机械四足机器人的研制
DOI：
10.1109/sii.2012.6427373
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
T. Motoyoshi
中科院分区：
文献类型：
--
作者：
Y. Washizuka;T. Oshima;K. Koyanagi;T. Motoyoshi
双关节肌肉的特点进行了分析，通过检查跳跃机制的启发，腿的动物。具体来说，我们提出了一个腿机制称为缩放模型的基础上双关节肌肉的安排，只存在于动物。研究了受电弓模型的运动特性，分析了弓腿伸展产生地面反力时的运动变化。结果表明，该模型将驱动器产生的力矩传递到脚趾。此外，该模型还能自动调整，使地面反作用力转向重心。在腿部配备这种模型的机器人可以使用这个简单的系统轻松跳跃。
Characteristics of bi-articular muscles were analyzed by examining a jumping mechanism inspired by the leg of an animal. Specifically, we proposed a leg mechanism called the pantograph model based on the bi-articular muscle arrangement that is only present in animals. We investigated the motion characteristics of the pantograph model and analyzed the change in motion when the ground reaction force is generated by extending the legs. The results show that this model transfers the torque generated by the actuator to the toe. In addition, this model automatically adjusts so that the ground reaction force turns toward the center of gravity. A robot equipped with this model in the legs can jump easily using this simple system.
脊椎动物腿部的执行机构布置及运动形式
DOI：
--
发表时间：
2002
期刊：
J.of Robotics & Mechatronicse Vol.14,No.3
影响因子：
--
作者：
Toru OSHIMA;Tomohiko FUJIKAWA;Minayori KUMAMOTO
通讯作者：
Minayori KUMAMOTO