Initial experiments on a leg mechanism with a flexible geared joint and footpad

$59.35 plus tax (Refund Policy)

Buy Article:

Abstract:

In the present work, a leg mechanism together with a flexible joint system is designed and constructed. The leg mechanism is expected to walk on uneven terrain and be subject to certain impact or contact forces. The effect of the designed flexible gear system and footpad on shock absorption is a main concern. The joint torque of the motor gear and the contact force of the foot are analyzed with different control schemes. The control performance of the leg movement by these methods is also presented. The proposed control methodology could next be applied to a newly designed two-link leg mechanism. It is hoped that the present study can be extended to an exoskeleton leg mechanism that is being developed.

Keywords: FLEXIBLE GEARED JOINT; HYBRID AND FUZZY CONTROL; LEG MECHANISM; RUBBER FOOTPAD; SHOCK ABSORPTION

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/1568553053662546

Publication date: April 1, 2005

Related content

Share Content

Access Key

Free Content
Free content
New Content
New content
Open Access Content
Open access content
Subscribed Content
Subscribed content
Free Trial Content
Free trial content
Cookie Policy
X
Cookie Policy
ingentaconnect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more