선형구동기 기반의 다리 모듈의 호핑을 위한 압축스프링 설계

Abstract

For the sake of the high-speed locomotion of quadruped robots, it is necessary to maximize the force of the toe kicking the ground thereby accelerating the body forward. However, the strong impact when the toe kicks the ground is delivered to the actuator when creating force pulling the ground through the linear actuator. These unexpected vibration and shock deteriorate not only the durability but also the controllability of the linear actuator. In this paper, a compression spring is designed for maximal performance of the linear actuator and shock reduction during hopping.