Initial experiments on a leg mechanism with a flexible geared joint and footpad
Initial experiments on a leg mechanism with a flexible geared joint and footpad
复制标题
带有柔性齿轮接头和脚垫的腿部机构的初步实验
DOI：
10.1163/1568553053662546
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发表时间：
2005
影响因子：
2
通讯作者：
H. Low
中科院分区：
文献类型：
--
作者：
H. Low
在目前的工作中，设计并构建了腿部机构和柔性关节系统。腿部机构预计会在不平坦的地形上行走并受到一定的冲击或接触力。所设计的柔性齿轮系统和脚垫的减震效果是主要关注的问题。分析了不同控制方案下电机齿轮的关节扭矩和足部的接触力。还介绍了这些方法对腿部运动的控制性能。所提出的控制方法接下来可以应用于新设计的两连杆机构。希望目前的研究可以扩展到正在开发的外骨骼腿部机构。
In the present work, a leg mechanism together with a flexible joint system is designed and constructed. The leg mechanism is expected to walk on uneven terrain and be subject to certain impact or contact forces. The effect of the designed flexible gear system and footpad on shock absorption is a main concern. The joint torque of the motor gear and the contact force of the foot are analyzed with different control schemes. The control performance of the leg movement by these methods is also presented. The proposed control methodology could next be applied to a newly designed two-link leg mechanism. It is hoped that the present study can be extended to an exoskeleton leg mechanism that is being developed.
DOI：
10.1115/1.3139652
发表时间：
1981-01-01
影响因子：
1.7
作者：
RAIBERT, MH;CRAIG, JJ
通讯作者：
CRAIG, JJ