WebAug 1, 2014 · It means that during the support phase, there is at least one actuator that, at the same time, is moving and withstanding the weight.On the contrary, in gravitationally decoupled (GD) legs, the moving actuators do not bear the weight,and theoretically, no power is expected during the stance phase of GD legs due to the robot weight. WebThe gravity decoupling drive mechanism was employed to maximize the energy efficiency of the robot system [81]. Furthermore, the two methods can be integrated and applied to the posture control of...
A concept for actuating and controlling a leg of a novel …
WebJun 1, 1984 · The design principle of a leg called a gravitationally decoupled actuator ( GDA) is shown to be indispensable for realizing energetically efficient walking mo tion. A novel mechanism, the three-dimensional Cartesian- coordinate pantograph ( PANTOMEC ), which follows the GDA principle and has a lightweight structure, is introduced. Webactuation method (direct or remote using particular actuators), and the integration of elasticities. Unlike previous works, our framework strives to be a realistic and practical … twhs college park
Vitruvio: An Open-source Leg Design Optimization Toolbox …
WebAbstract: A semi-fixed gait hexapod MELCRAB-2 was constructed as a self-contained walking robot to verify the usefulness of two strategies on actuator configuration design … WebNov 17, 2006 · The GDA decouples the driving system against the gravitational field to suppress generation of negative power and … WebThis study analyses the superior performance of gravitationally decoupled actuation in terms of energy efficiency, and hence autonomy. Based on the decoupling concept, a new design is presented... tai chi classes in tacoma wa