Leg mechanism design for SLIP model of hydraulic quadruped robot

Jaehong Seo,Jungsan Cho,Byung-Yun Park,Jinhyun Kim,Sangdeok Park

URAI（2014）

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摘要

The Spring Loaded Inverted Pendulum (SLIP) describes the dynamic walking of humans and animals in a simplified manner. However, realizing such movements by means of a combination of typical articulated legs and linear actuators has some limitations. This paper proposes a leg mechanism that accurately reflects the SLIP based on its mechanical constitution. The SLIP design based leg is able to do decoupled swing motion and extension motion. Also this study has focused on improving the straightness of extension motion.

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关键词

quadruped robot,robot dynamics,slip,hydraulic actuators,motion control,mechanical constitution,slip model,legged locomotion,articulated legs,leg mechanism design,extension motion,spring loaded inverted pendulum,slip design based leg,design engineering,hydraulic quadruped robot,linear actuators,decoupled swing motion,dynamic walking,mechanism design,actuators

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