219 RESEARCH ON THE STIFFNESS AND BUFFERING CHARACTER OF ARTICULATED LEG MECHANISM OF DYNAMIC WALKING ROBOTS(General Session II)

概要

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An effective method to reduce ground impact on walking robot is to design an elastic leg mechanism, while dynamic impact will be occurred during high speed walking. This paper presents an articulated leg mechanism based on bionic research results, which is equivalent to a virtual leg spring, and the geometry design of the mechanism is illustrated with an example. How the stiffness of the articulated leg changed during its compressing motion range is analyzed and showed with simulation, hence a satisfying geometry design is achieved for dynamic walking robot. The stiffness character of this design scheme accords with the bionic research results. Then the buffering character and the principle of saving energy of articulated leg mechanism are analyzed and discussed in mathematics. The dynamic characteristic of the quadruped with articulated legs is compared with that of the quadruped with rigid leg theoretically. The study demonstrates that articulated leg mechanism is effective for dynamic walking robot.
一般社団法人日本機械学会の論文
2005-05-31