Mechanism Design of a Robotic Leg for Running Considering Radial Force Producibility and Tangential Mobility

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 209
  • Download : 0
A robotic leg of high-speed locomotion should be designed such that the mobility and the force producibility are maximized simultaneously. The mobility is crucial in a direction perpendicular to a line spanning from the head of upper limb to the tip of the lower limb, which is related to the rapid movement of the leg during swing. On the other hand, the force producibility is crucial in the same direction to the line, which is related to the thrust force of a leg in stance. In this paper, the tangential mobility and radial force producibility being defined mathematically, the mechanism design factors, i.e., an actuator configuration and a length ratio of upper limb and lower limb, are introduced, analysed, and determined for the leg to maximize both the tangential mobility and the radial force producibility. Applying the proposed design parameters, a robotic leg is fabricated, and the running motion is realized in experiment.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2020-07
Language
English
Article Type
Article
Citation

International Journal of Control, Automation and Systems, v.18, no.7, pp.1782 - 1791

ISSN
1598-6446
DOI
10.1007/s12555-019-0694-0
URI
http://hdl.handle.net/10203/281183
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0