Sökning: onr:"swepub:oai:DiVA.org:ltu-9609" >
A novel robotic leg...
A novel robotic leg design with hybrid dynamics
-
- Ragusila, Victor (författare)
- Institute for Aerospace Studies, University of Toronto
-
- Emami, Reza (författare)
- Institute for Aerospace Studies, University of Toronto
-
(creator_code:org_t)
- Informa UK Limited, 2013
- 2013
- Engelska.
-
Ingår i: Advanced Robotics. - : Informa UK Limited. - 0169-1864 .- 1568-5535. ; 27:12, s. 919-931
- Relaterad länk:
-
https://urn.kb.se/re...
-
visa fler...
-
https://doi.org/10.1...
-
visa färre...
Abstract
Ämnesord
Stäng
- A new leg mechanism is designed to achieve optimal behaviour in both the stance and swing phases. The leg is designed such that its dynamics and kinematics optimally mimic those of simpler mechanisms, namely the spring-loaded inverted pendulum (SLIP) and the double pendulum, for the stance and swing phase, respectively. Controllers based on the simpler mechanisms can thus be used, resulting in an effective control strategy that is simple and transparent. © 2013 Taylor & Francis Group, LLC.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
Nyckelord
- hopping robot
- leg mechanism
- legged locomotion
- reduction by design
- Onboard space systems
- Rymdtekniska system
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
Hitta via bibliotek
Till lärosätets databas