AI Article Synopsis
- The dynamic motion performance is crucial for legged robots, traditionally improved by minimizing moment of inertia or using quasi-direct drive actuators.
- This paper introduces a six-link leg mechanism that translates small drive motions into larger outputs, enhancing the robot's dynamic capabilities.
- Experiments on a hexapod robot demonstrated that a 1° rotation of the steering gear lifts the toe by 7 mm and achieves a maximum running speed of 390 mm/s, significantly enhancing its performance.
Article Abstract
An important feature of a legged robot is its dynamic motion performance. Traditional methods often improve the dynamic motion performance by reducing the moment of inertia of robot legs or by adopting quasi-direct drive actuators. This paper proposes a method to enhance the dynamic performance of a legged robot by transmission mechanism. Specifically, we present a unique six-link leg mechanism that can implement a large output motion using a small drive motion. This unique feature can enhance the robots' dynamic motion capability. Experiments with a hexapod robot verified the effectiveness of the mechanism. The experimental results showed that, when the steering gear of the robot rotates 1°, the toe can lift 7 mm (5% of body height), and the maximum running speed of the robot can reach 390 mm/s (130% of the moveable body length per second).
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| http://www.ncbi.nlm.nih.gov/pmc/articles/PMC9501046 | PMC |
| http://dx.doi.org/10.3390/mi13091404 | DOI Listing |
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