摘要: In the present work, a leg mechanism together with flexible joint system is designed and constructed. The expected to walk on uneven terrain be subject certain impact or contact forces. effect of gear footpad shock absorption main concern. torque motor force foot are analyzed different control schemes. performance movement by these methods also presented. proposed methodology could next applied newly two-link mechanism. It hoped that study can extended an exoskeleton being developed.
sci-hub.se 参考文章(27)
Hannu Lehtinen, Force based motion control of a walking machine ,(1994)
Philip K. Freakley, A. B. Davey, Arthur Robert Payne, Theory and practice of engineering with rubber ,(1978)
K.H. Low, Aiqiang Yang, Design and foot contact of a leg mechanism with a flexible gear system international conference on robotics and automation. ,vol. 1, pp. 324- 329 ,(2003) , 10.1109/ROBOT.2003.1241616
Shih-Tin Lin, Ang-Kiong Huang, Position-Based Fuzzy Force Control for Dual Industrial Robots Journal of Intelligent and Robotic Systems. ,vol. 19, pp. 393- 409 ,(1997) , 10.1023/A:1007984412204
Luigi Villani, Bruno Siciliano, Robot Force Control ,(2000)
M.D. Berkemeier, K.V. Desai, Design of a robot leg with elastic energy storage, comparison to biology, and preliminary experimental results international conference on robotics and automation. ,vol. 1, pp. 213- 218 ,(1996) , 10.1109/ROBOT.1996.503597
Witold Pedrycz, Fuzzy control and fuzzy systems ,(1989)
Y. Nakano, K. Chono, K. Yoneda, H. Kameishi, A dynamic biped walking robot based on the momentum mechanism with flexible beams intelligent robots and systems. ,vol. 2, pp. 1318- 1323 ,(1994) , 10.1109/IROS.1994.407512
S. Sugano, S. Tsuto, I. Kato, Force Control Of The Robot Finger Joint Equipped With Mechanical Compliance Adjuster intelligent robots and systems. ,vol. 3, pp. 2005- 2013 ,(1992) , 10.1109/IROS.1992.601933
R F Ker, Dynamic tensile properties of the plantaris tendon of sheep (Ovis aries) The Journal of Experimental Biology. ,vol. 93, pp. 283- 302 ,(1981) , 10.1242/JEB.93.1.283