Abstract
When robots make smooth transitions in dynamic motions, they must exert large force over widely various postures. To expand the range of postures that robots can take during dynamic motions, we propose that robots be designed with an Angle-Dependent Moment Arm (ADMA) with biased pivot, for which torque characteristics of actuators attached to joints are adjustable. From jumping simulations of robotic legs designed with ADMA, we demonstrate that ADMA improves robustness to postural and motion timing changes by shifts of the optimal posture, which are also observed in jumping experiments using a full-sized, bipedal robot.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
