一种基于柔性梁动量机构的动态双足步行机器人

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI:10.1109/IROS.1994.407512

Yoshiyulu Nakano, Komei Chono, Kenichi Yoneda, H. Kameishi

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引用次数: 4

摘要

提出了一种基于柔性梁动量机构的动态双足步行机器人。这个机器人有两条腿，是一对柔性梁，而不是一对刚性的小腿和股骨。柔性梁有望带来重量轻的机器人，也可以作为膝盖上的关节，由电动或液压马达操作。本文建立了该机器人的计算机模型，并对其动态行为进行了分析和动画显示。在此基础上，设计、建立了人体动态步态行走的原型模型，并对其进行了检验。结果，我们发现了以下特性。(1)与传统的刚体机器人相比，所设计的机器人的重量可以减少一半。(2)通过灵活的腿的快速运动，可以实现快速稳定的行走。(3)与刚体机器人相比，动态行走的能耗降低到70%。

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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A dynamic biped walking robot based on the momentum mechanism with flexible beams

A dynamic biped walking robot based on the momentum mechanism with flexible beams is proposed. This robot has two legs which are a pair of flexible beams instead of a pair of rigid crura and femurs. The flexible beams are expected to bring a light weight robot, and also act as joints at knees which have been operated by electric or hydraulic motors. A computer model of the present robot has been developed, and the dynamic behavior is analyzed and displayed by animation, here. Furthermore, a prototype model which walks by dynamic human gait was designed, setup and inspected. As the result we found the following features. (1) The weight of the proposed robot can be reduced to half as compared with conventional rigid body robots. (2) Rapid and stable walking can be attained by the swift movement of the flexible legs. (3) Energy consumption for dynamic walking is reduced to 70% as compared with rigid body robots.<>

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来源期刊

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

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