- Tytuł:
- The Role of Compliant Elements in Two-Legged Robot’s Foot Model
- Autorzy:
-
Zurawska, M. S.
Zielinska, T.
Szumowski, M. - Powiązania:
- https://bibliotekanauki.pl/articles/384733.pdf
- Data publikacji:
- 2015
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
humanoidal robots
compliance
ankle joint
robotic feet
prototyping - Opis:
- Proposition of compliant foot for bipedal robot is introduced and its properties are investigated. The foot consists of four compliant elements (spring-damper) mounted to four vertices of a rectangular frame. The results of robot gait analysis using Zero Moment Point method are shown. ZMP trajectories for rigid and compliant foot are compared and conclusions are formulated. Foot compliance reduces needed for postural stabilization compensatory movements of the upper part of the body by those simplifying control methods and construction. Obtained results will be applied in real prototype of small humanoidal robot. Robot construction in which proposed foot will be applied is shortly introduced.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2015, 9, 1; 68-76
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł