Leg with rotational joint that mimics elastic characteristics of human leg in running stance phase
Leg with rotational joint that mimics elastic characteristics of human leg in running stance phase
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DOI：
10.1109/humanoids.2014.7041405
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发表时间：
2014-11
期刊：
影响因子：
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通讯作者：
T. Otani;T. George;K. Uryu;Masaaki Yahara;A. Iizuka;Shinya Hamamoto;Shunsuke Miyamae;K. Hashimoto;Matthieu Destephe;M. Sakaguchi;Y. Kawakami;Hun-ok Lim;A. Takanishi
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文献类型：
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作者：
T. Otani;T. George;K. Uryu;Masaaki Yahara;A. Iizuka;Shinya Hamamoto;Shunsuke Miyamae;K. Hashimoto;Matthieu Destephe;M. Sakaguchi;Y. Kawakami;Hun-ok Lim;A. Takanishi
在本文中，我们描述了一个具有旋转关节的腿的发展，模仿了奔跑的人的腿的弹性特性。这一发展的目的是为了实现人类跑步的动力学，分析表明，腿的运动可以用压缩弹簧来模拟，腿关节的运动可以用扭转弹簧来模拟。因此，我们假设这些弹性特性可以用来开发能够像人一样跑步的机器人，这需要比现有的类人机器人更高的输出功率。因此，我们开发了一个具有旋转关节的腿模型，并通过结合由两个片弹簧组成的机构来调节关节刚度来制造腿。通过这种方法，我们能够实现类似人类的关节刚度，这可以通过改变其中一个钢板弹簧的有效长度来调整。我们评估了关节可调刚度的性能，并且还能够通过旋转腿关节的共振实现跳跃。
In this paper, we describe the development of a leg with a rotational joint that mimics the elastic characteristics of the leg of a running human. The purpose of this development was to realize the dynamics of human running, the analysis of which has revealed that the motion of the leg can be modeled by a compression spring and that of the leg joint by a torsion spring. We, therefore, assumed that these elastic characteristics could be used to develop robots capable of human-like running, which requires higher output power than that of existing humanoid robots. Hence, we developed a model of a leg with a rotational joint and fabricated the leg by incorporating a mechanism comprising of two leaf springs for adjusting the joint stiffness. By this means, we were able to achieve human-like joint stiffness, which could be adjusted by varying the effective length of one of the leaf springs. We evaluated the performance of the adjustable stiffness of the joints, and were also able to achieve hopping by resonance of the rotational leg joint.