• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>International Mechanical Engineering Congress and Exposition 2007 >USING PARALLEL JOINT COMPLIANCE TO REDUCE THE COST OF WALKING IN A PLANAR BIPEDAL ROBOT
【24h】

USING PARALLEL JOINT COMPLIANCE TO REDUCE THE COST OF WALKING IN A PLANAR BIPEDAL ROBOT

机译：使用并行关节顺应性降低平面双足机器人的行走成本

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper presents numerical and experimental studies of the influence of parallel knee joint compliance on the average power cost of walking in an underactuated planar bipedal robot, ERNIE. The use of parallel compliance does not increase the control design complexity, as would the addition of series compliance. Four scenarios were studied: one without springs, and three with springs of different stiffnesses and preloads. Optimal gaits in terms of average power cost for various speeds were designed for each scenario. It was found that for low-speed walking, soft springs are helpful to reduce power cost, while stiffer springs increase power cost. For high-speed walking, it was found that both soft and stiff springs reduce the average power cost of walking, but stiffer springs reduce the cost more than do softer springs.
机译：本文提供了数值和实验研究，研究结果表明，平行膝盖关节顺应性对在欠驱动平面双足机器人ERNIE中行走的平均功率成本的影响。并行顺从性的使用不会增加控件设计的复杂性，而增加串行顺从性也不会增加控件的设计复杂性。研究了四种情况：一种不带弹簧，三种带不同刚度和预紧力的弹簧。针对每种情况设计了针对各种速度的平均功率成本方面的最佳步态。已经发现，对于低速行走，软弹簧有助于降低动力成本，而较硬的弹簧会增加动力成本。对于高速行走，人们发现软弹簧和硬弹簧都降低了行走的平均动力成本，但是较硬的弹簧比软弹簧降低的成本更大。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号