扭转刚度、膝关节角度和连杆比对仿生两段腿移动机器人设计的影响

ICCAS 2010 Pub Date : 2010-12-17 DOI:10.1109/ICCAS.2010.5669883

Dong-Hwan Shin, Youngshik Kim, J. An

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引用次数: 13

摘要

在这项研究中，我们讨论了两段腿的参数，扭转刚度，膝关节角度和链接比，为仿生陆地机器人的四条腿。每条腿都有两段连接和一个被动关节。仿真结果验证了软腿机器人与硬腿机器人的有效性。

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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Effects of torsional stiffness, knee angle, and link ratio on the design of a biologically inspired mobile robot with two-segment legs

In this study we discuss two-segment leg's parameters, torsional stiffness, knee angle, and link ratio, for a biologically inspired terrestrial robot with four legs. Each leg has two-segment links and a passive joint. Simulation results then verify soft leg's effectiveness compared to a robot with stiff legs.

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ICCAS 2010

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