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

Dong-Hwan Shin, Youngshik Kim, J. An
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引用次数: 13

Abstract

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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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
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。
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