机械科学与技术2011，Vol.30Issue(10)：1688-1692,5.
考虑柔性脚趾的仿袋鼠跳跃机器人落地冲击分析
Analysis of the Landing Impact of a Hopping Kangaroo Robot Taking Its Flexible Toes into Consideration
摘要
Abstract
A rigid-flexible model is established for analysis of the hopping kangaroo robot with compliant toe based on the kangaroo＇s biological architecture. The system dynamic equations are derived using the Lagrange equations during the touch-down phase. With an example, the characteristics of the robot is studied by calculation and simulation with Matlab7.0 such as the elasticity energy of the toes, the force of ground, the center of mass displacement of its trunk, the center of mass acceleration of its trunk, the displacement of its ankle and joint torques, and the change curves of them are compared with a rigid model for the hopping kangaroo with rigid toes. The result shows that the compliant toes can effectively reduce the impact during the touch-down phase, and can improve the touchdown stability of the robot.关键词
袋鼠机器人/柔性脚趾/落地冲击/动力学Key words
kangaroo robot/compliant toe/landing impact/dynamics分类
信息技术与安全科学引用本文复制引用
高利霞,董海军,葛文杰,刘亦洋..考虑柔性脚趾的仿袋鼠跳跃机器人落地冲击分析[J].机械科学与技术,2011,30(10):1688-1692,5.基金项目
国家自然科学基金项目（50975230）和国家863项目（2007AA042207）资助 （）
