TWO-LEGGED ROBOT CONCEPTS

被引：9

作者：

Lestach, Lukas ^{[1
]}

Kelemen, Michal ^{[1
,2
]}

Kelemenova, Tatiana ^{[1
]}

Virgala, Ivan ^{[1
]}

Mikova, Lubica ^{[1
]}

Prada, Erik ^{[1
]}

Hroncova, Darina ^{[1
]}

Varga, Martin ^{[1
]}

Sincak, Peter Jan ^{[1
]}

Merva, Tomas ^{[1
]}

机构：

[1] Tech Univ Kosice, Fac Mech Engn, Kosice, Slovakia

[2] Tech Univ Kosice, Fac Mech Engn, Inst Automat Mechatron Robot & Prod Tech, Letna 9, Kosice 04200, Slovakia

来源：

MM SCIENCE JOURNAL | 2022年 / 2022卷

关键词：

Gripper; robot; actuator; kinematics; simulation; FORCE;

D O I：

10.17973/MMSJ.2022_10_2022091

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The article deals with the concepts of a two-legged walking robot. Three kinematics concepts are proposed in order to achieve the lowest possible number of actuators and the best possible energy efficiency. Walking cycle algorithms are also proposed. These concepts have been assessed and evaluated in several respects in order to select the optimal kinematic concept.

引用

页码：5812 / 5818

页数：7

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