Dynamic running control of quadrupedal robot using artificial muscle mechanism

Z. Zhang, H. Kimura, Y. Fukuoka
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引用次数: 3

Abstract

In this paper, in order to clarify the role of dynamics based control, we conducted research on dynamics of the mechanical system for a quadrupedal robot in jumping locomotion. A control strategy of the mechanical system for Patrush, our quadrupedal robot with compliant legs, was introduced and successfully applied in our research. In addition, we developed a tendon driven mechanism with a flexible pneumatic actuator, by means of which the quadrupedal robot is able to execute a dynamic running gait. MPEG footage of these experiments can be seen at: http://www.kimura.is.uec.ac.jp.
基于人工肌肉机构的四足机器人动态运行控制
为了明确基于动力学的控制的作用,本文对四足机器人在跳跃运动中的机械系统动力学进行了研究。介绍了柔性腿四足机器人Patrush机械系统的控制策略,并成功地应用于研究中。此外,我们还开发了一种带有柔性气动执行器的肌腱驱动机构,通过该机构,四足机器人能够执行动态跑步步态。这些实验的MPEG片段可以在http://www.kimura.is.uec.ac.jp上看到。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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