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In this paper we analyze characteristics of the ground reaction force (GRF) experienced by the legs of the quadruped robot during stance phase in walk gait, in particular, when the height of center of gravity (COG) of the quadruped robot is changeable. We also build the dynamics model of the quadruped robot. Two dynamics equations during swing phase and stance phase are established, respectively....
In this paper we address the turning maneuver technique for a quadruped robot with only the hip pitch and the knee pitch for each leg, and explore characteristics of the mediolateral reaction forces experienced by the robot legs during the stance phase. We propose a turning strategy based on the translation of the hip-knee joint space towards the deepest flexion point. Such a translation can cause...
This paper presents a design frame of a leg exoskeleton. The performance of an exoskeleton was analyzed by studying a model of a linear coupled 1-DOF human-exoskeleton system. The results showed that a low-impedance, anthropomorphic and well attached mechanical structure is benefit for the control of exoskeleton, and a direct force feedback control could also be implemented to further reduce the impedance...
JL-1 is a reconfigurable multi-robots system based on parallel mechanisms and cone-shaped docking mechanisms. To reveal how the force cooperation between robots enhances the terrain adaptability of JL-1 and to discover the limits of the current reconfiguration mechanism, this paper analyzes the forces arising between robots during cooperation in docking and docked state. The static analysis of the...
Based on the vermicular motion of the pine caterpillar and inchworm, this paper presents two novel module climbing caterpillar kinematics models. The analysis of the valid gaits and climbing safety of them indicates the differences of two models. The pine caterpillar model with all active joints has the disadvantage of introducing the redundant actuating to its locomotion but higher security than...
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