Development and control of new legged robot QUARTET III - from active walking to passive walking
Development and control of new legged robot QUARTET III - from active walking to passive walking
复制标题
新型腿式机器人QUARTET III的开发与控制——从主动行走到被动行走
DOI：
10.1109/iros.2000.893148
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
Y. Saruta
中科院分区：
文献类型：
--
作者：
K. Osuka;Y. Saruta
我们介绍了一种新开发的四重腿机器人III，该机器人上安装了两个直接驱动电机作为主执行器。因此，该机器人既可以主动行走，也可以被动行走。提出了一种新的小坡度机器人控制律。该控制方案的策略如下。在行走开始时，机器人带着致动器行走。然后，一段时间后，控制输入逐渐减少。最后，机器人被动行走。通过仿真和实验验证了该控制律的有效性。
We introduce a newly developed legged robot QUARTET III. Two direct drive motors are mounted on the robot as a main actuator. Therefore, this robot can walk both actively and passively. We also propose a new control law for the robot on a slight slope. The strategy of the control scheme is as follows. At the beginning of the walking, the robot walks with actuator. Then after a while the control input gradually decrease. Finally, the robot walks passively. The effectiveness of the control law is shown through simulations and experiments.
影响因子：
9.2
作者：
MCGEER, T
通讯作者：
MCGEER, T