DocumentCode
2705343
Title
Design of a novel frog-inspired hopping leg
Author
Zhang, Wei ; Fan, Jizhuang ; Cai, Hegao
Author_Institution
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
fYear
2012
fDate
6-8 June 2012
Firstpage
277
Lastpage
282
Abstract
A frog-inspired hopping leg is designed in this paper, and the pneumatic muscle is utilized as the driver. The muscles are bioarticular muscles which can not only increase the range of the joint angle, but also make the robot compliance more similar to real frogs. Kinematics analysis of pneumatic muscles is accomplished, and the experiments of motion simulations based on virtual components are given, as the theoretical basis of further design of the control system.
Keywords
compliance control; control system synthesis; legged locomotion; pneumatic drives; robot kinematics; bioarticular muscles; control system design; frog-inspired hopping leg design; joint angle; kinematic analysis; motion simulation; pneumatic muscle; robot compliance; virtual components; Force; Hip; Joints; Kinematics; Knee; Muscles; Robots; Bioarticular muscle; Frog-inspired robot; Hopping robot; Pneumatic muscle; kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Information and Automation (ICIA), 2012 International Conference on
Conference_Location
Shenyang
Print_ISBN
978-1-4673-2238-6
Electronic_ISBN
978-1-4673-2236-2
Type
conf
DOI
10.1109/ICInfA.2012.6246818
Filename
6246818
Link To Document