Design and Walking Control Implementation of a Hydraulic Humanoid Biped Robot
作者: Jianwen Luo Yili Fu and Shuguo Wang
刊名: International Journal of Mechanical Engineering and Automation, 2017, Vol.4 (5)
来源数据库: Ethan Publishing Company
关键词: Biped robothydraulicsystem integration.
原始语种摘要: Hydraulic actuated legged robots have greater joint torque than electric actuated ones, which could improve the performance of legged robots in heavy duty tasks. Given the limited knowledge of technology and engineering experience in developing hydraulic humanoid biped robots and inspired by the excellent performance of recent emerging hydraulic legged robots, the authors designed a hydraulic humanoid biped robot with 12 degrees of freedoms. Hydraulic actuators were mounted on legs similar to human muscles to conform to biomimetic design. The authors analyzed the kinematics of hydraulic actuation in each joint and presented the hydraulic actuators and embedded control system. The joints strength was tested in weight lifting task and stable walking control was implemented by using the foot...
全文获取路径: Ethan Publishing Company  (合作)
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关键词翻译
关键词翻译
  • biped 二足动物
  • humanoid 具有人类特点的
  • legged 有腿的
  • robot 机扑
  • actuated 动作的
  • Robot 罗伯特牌照相机
  • walking 步行
  • kinematics 运动学
  • hydraulic 水力的
  • improvement 改良