Relationship between the shape of the elliptical knee joint and jumping height in a leg-type robot driven by pneumatic artificial muscle

Relationship between the shape of the elliptical knee joint and jumping height in a leg-type robot driven by pneumatic artificial muscle

Abstract The McKibben pneumatic actuator (MPA) is a soft actuator used for performing various practical functions in robots. Particularly, many dynamic robots have been realized using MPAs. However, there is a trade-off between torque generated by MPA and the range of motion of the joint. In this st...

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Bibliographic Details
Main Authors: Taichi Okumura, Daisuke Nakanishi, Keisuke Naniwa, Yasuhiro Sugimoto, Koichi Osuka
Format: Article
Language:English
Published: SpringerOpen 2023-04-01
Series:ROBOMECH Journal
Subjects:
McKibben pneumatic muscle
Leg-type robot
Jumping
Knee joint
Mechanical design
Online Access:https://doi.org/10.1186/s40648-023-00250-2

Internet

https://doi.org/10.1186/s40648-023-00250-2

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