Dissertation/ Thesis
Hybrid Dynamic Walking Leg Design for Humanoid Robots
| العنوان: | Hybrid Dynamic Walking Leg Design for Humanoid Robots |
|---|---|
| Alternate Title: | 人形機器人動態行走機械腿 |
| المؤلفون: | Jia-Rong Chang, 張家榮 |
| Thesis Advisors: | Chwan-Hsen Chen, 陳傳生 |
| سنة النشر: | 2010 |
| المجموعة: | National Digital Library of Theses and Dissertations in Taiwan |
| الوصف: | 98 This thesis presents an innovative leg mechanism for biped robot, which combines the characteristics of active and passive walking leg design. The joint of the robot leg adopt the series elastic actuator concept to associate each linear ballscrew actuator with a pneumatic shock absorber to absorb the impact force during walking and running. In order to reduce the dead load applied to the actuator by its own weight, each joint is preloaded by the air spring effect in the pneumatic shock absorber. Each joint is driven by two linear actuators, the synchronous or differential movement of these two linear actuators can increase the torque and an extra degrees of freedom for the lateral movement. The total degrees of freedom for each leg reaches seven, including five active joints and two passive joints. The size of leg is same as that of a six-year-old kid. The maximum load capacity is 80 kg per leg and the walking speed is up to 2.4 km/h. |
| Original Identifier: | 098YZU05489086 |
| نوع الوثيقة: | 學位論文 ; thesis |
| وصف الملف: | 48 |
| الاتاحة: | http://ndltd.ncl.edu.tw/handle/17633345858463524657 |
| رقم الانضمام: | edsndl.TW.098YZU05489086 |
| قاعدة البيانات: | Networked Digital Library of Theses & Dissertations |
| الوصف غير متاح. |