A compliant leg design combining pantograph structure with leaf springs
文献类型：期刊论文
| 作者 | Wang, Boxing ; Zhang, Kunting; Ma, Xueyan; Jia, Lihao
|
| 刊名 | ROBOTICA
 |
| 出版日期 | 2023-11-07 |
| 页码 | 15 |
| 关键词 | legged robots biomimetic robots design bipeds humanoid robots |
| ISSN号 | 0263-5747 |
| DOI | 10.1017/S0263574723001443 |
| 通讯作者 | Jia, Lihao(lihao.jia@ia.ac.cn) |
| 英文摘要 | We proposed a compliant leg configuration that enhances the conventional pantograph design with leaf springs. The following facts characterize the proposed configuration: (1) Due to the use of the pantograph structure, the mass is centralized around the hip joint, reducing the lower leg inertia; (2) Leaf springs are chosen as elastic parts to increase energy efficiency and estimate foot-end contact forces. Compared with coil springs, leaf springs require no guide rails to deploy, and their stiffness can be easily adjusted through shape cutting. Analytical models are introduced to analyze the leg's stiffness and estimate the contact forces only with the deflections of leaf springs. A one-leg robot based on the proposed design is built, and various experiments are conducted. Experiments regarding the stiffness calibration and the contact forces estimation showed an acceptable agreement with the analytical model. Experiments of dropping demonstrate the feasibility of the leg to perform spring-like behaviors. Experiments of periodic hopping demonstrate the feasibility of using spring deflections to detect touch-down events. For energy efficiency, it is also observed that the elastic leg has a 20% increment concerning the jumping height in the flight phase, compared with the one where leaf springs are replaced with rigid materials. |
| WOS关键词 | SERIES |
| 资助项目 | Natural Science Foundation of China[62003340] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:001097983800001 |
| 出版者 | CAMBRIDGE UNIV PRESS |
| 资助机构 | Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/54415]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Jia, Lihao |
| 作者单位 | Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence, Beijing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Boxing,Zhang, Kunting,Ma, Xueyan,et al. A compliant leg design combining pantograph structure with leaf springs[J]. ROBOTICA,2023:15. |
| APA | Wang, Boxing,Zhang, Kunting,Ma, Xueyan,&Jia, Lihao.(2023).A compliant leg design combining pantograph structure with leaf springs.ROBOTICA,15. |
| MLA | Wang, Boxing,et al."A compliant leg design combining pantograph structure with leaf springs".ROBOTICA (2023):15. |
入库方式： OAI收割
来源：自动化研究所
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