An actuator with physically variable stiffness for highly dynamic legged locomotion

被引：136

作者：

Hurst, JW ^{[1
]}

Chestnutt, JE ^{[1
]}

Rizzi, AA ^{[1
]}

机构：

[1] Carnegie Mellon Univ, Pittsburgh, PA 15213 USA

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1302453

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Running is a complex dynamical task which places strict design requirements on both the physical components and software control systems of a robot. This paper explores some of those requirements and illustrates how a variable compliance actuation system can satisfy them. We present the design, analysis, simulation, and benchtop experimental validation of such an actuator system. We demonstrate, through simulation, the application of our prototype actuator to the problem of biped running.

引用

页码：4662 / 4667

页数：6

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[2]

BLICKHAN R, 1908, J BIOMECH, V22, P1217

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