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We propose an indirect stiffness estimation method of flexible joint based on system function approximation in this paper. At first, an alternative system function is constructed. Then a system function estimation method based on saturation function is introduced to estimate its output. Taking the estimated system function as prior model, the least square method is finally introduced to identify the...
This paper presents the design and modeling of a novel torsion spring-based actuator (TSA) with variable stiffness. The mechanical structure of stiffness regulation contains two opposite-handed torsion springs and two cam bearing followers (CFs). The operational principle is by changing the contact point of the torsion spring and the CF to regulate the stiffness. The proposed design allows for the...
This paper presents a new inverted pendulum system, whose core stabilizing device is designed based on gyroscopic precession effect. Traditional inverted pendulum system, such as inertia wheel pendulum, gains the required balance torque through the control over the acceleration and deceleration of inertia wheel. Considering the issues of the inefficiency, inflexibility and large capability required...
Though the studies of wheel-legged robots have achieved great success, the existing ones still have defects in load distribution, structure stability and carrying capacity. For overcoming these shortcomings, a new kind of wheel-legged robot(Rolling-Wolf) is designed. It is actuated by means of ball screws and sliders, and each leg forms two stable triangle structures at any moment, which is simple...
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