New Variable Passive-Compliant Element Design for Quadruped Adaptation to Stiffness-Varying Terrain
نویسندگان
چکیده
منابع مشابه
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 ...
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This paper presents a new dynamic walking controllers for quadrupedal robots with compliant legs. The algorithm implements a "walking bound" gait, (running bound without ight phase), requires only one actuator per leg at the hip, and commands a constant hip velocity during stance. The algorithm has been implemented successfully on our Scout II quadruped robot and has yielded stable walking for ...
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1 Graduate School of Information Sciences, Tohoku Univ. 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai Japan [email protected] 2 Graduate school of Science and Technology, Kobe Univ. 1-1 Rokkodai, Nada, Kobe 657-8501 Japan k [email protected] 3 Dept. Opto-Mechatoronics, Wakayama Univ. 930 Sakaedani, Wakayama-city 640-8510 Japan [email protected] 4 Graduate School of Information...
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A locking, unactuated knee is added to the Scout II quadruped robot and trotting gaits are studied. The mechanical design of the knee is presented, trotting algorithms are discussed, and a control approach for a robotic leg with an unactuated knee is developed. A model of a single leg is used to determine appropriate leg trajectory parameters and initial conditions to achieve trots. The single ...
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هدف اصلی از این تحقیق به دست آوردن و مقایسه حق بیمه باورمندی در مدل های شمارشی گزارش نشده برای داده های طولی می باشد. در این تحقیق حق بیمه های پبش گویی بر اساس توابع ضرر مربع خطا و نمایی محاسبه شده و با هم مقایسه می شود. تمایل به گرفتن پاداش و جایزه یکی از دلایل مهم برای گزارش ندادن تصادفات می باشد و افراد برای استفاده از تخفیف اغلب از گزارش تصادفات با هزینه پائین خودداری می کنند، در این تحقیق ...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2016
ISSN: 1729-8814,1729-8814
DOI: 10.5772/63893