Joint variable stiffness of musculoskeletal leg mechanism for quadruped robot

Compliant Leg Design for a Quadruped Robot

malian animals, i.e. that of a cat. It was also influenced by the spring-mass model representation [2]. Compliant prismatic legs show an intrinsic robustness for their angle of attack [2], they have a stability region. If the leg design is changed into a two segmented leg with a specific linear torsional spring, the leg stiffness kleg becomes nonlinear (Fig. 2(b) blue line), similar to that of ...

Effect of Leg Design on Locomotion Stability for Quadruped Robot

Resonance-based Control Method for Multi-Joint Robot with Variable Joint Stiffness

This study presents resonance-based control methods proposed by the authors for multi-joint robots. The proposed control methods adjust stiffness of mechanical elements installed in each joint of the robots to minimize actuator torque while generating desired periodic motions. Some of these control method adjust not only stiffness but also motion patterns to reduce further actuator torque. Adva...

Kinematics Analysis and Motion Simulation of a Quadruped Walking Robot with Parallel Leg Mechanism

Compared with the serial mechanism, the parallel mechanism has many advantages. Using the parallel mechanism as the basic leg mechanism of a walking robot, not only the payload-weight ratio can be improved, but also the robot walking stability and security performance can be enhanced. By combining the kinematics features of 3-UPU parallel mechanism with the structural features of the quadruped ...

Novel Energy Transfer Mechanism in a Running Quadruped Robot with One Actuator per Leg

In this work we develop a novel method, or mechanism, of energy transfer in a quadruped running robot. The robot possesses only one actuator per leg, for lower weight and greater power autonomy. The developed mechanism ensures correct dispersion of energy to the actuated and the unactuated degrees of freedom of the robot for stable running. In the mechanism design, we address the added problem ...