Tham khảo tài liệu 'climbing and walking robots part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Zappa a Compliant Quasi-Passive Biped Robot with a Tail and Elastic Knees 263 Name Value Name Value Name Value mtail 760 gr. 10 150 mm. d 40 mm. mhip 210 gr. 11 100 mm. lfootC12 320 mm. mỉe s 920 gr. l2 400 mm. lfootC13 80 mm. mfeet 280 gr. 12K 200 mm. lfootC24-AF 120 mm. Mì 2170 gr. 13K 200 mm. Table 1. Simulation parameters dimensions and masses Spring k b q0 or Ankle 10 0 Femur Knee 8 0 Knee 750 100 Superior Hip 200000 5000 0 Table 2. Simulation parameters springs may serve as performance indexes i the distance travelled considering the same experimental conditions and ii the capacity of the robot to walk with a higher tail frequency. Simulation results indicate that the robot with elastic knees is superior to the robot without knees because the former travels larger distances with the same oscillatory frequency f . Moreover the robot with elastic knees can walk with a higher frequency f at which the robot without knees falls down. The reason why the robot with knees travels a larger distance is not only because of this higher frequency capacity but because the robot raises the feet higher in each stride. This is the result of leg spring combination. As observed in the figures presented in this work the performance of the two types of robots are very similar in consumption Figure 13 in the response of the tail controller qò Figure 12 in the reaction forces Figure 8 and in the way the hip angle q1 oscillates to pass from the stance phase to the swing phase Figure 9 . Nevertheless because of the kinematic differences between Py s it is difficult to draw definitive conclusions. We conjecture that it is possible for the robot with elastic knees to avoid the lateral sliding mentioned in this paper. This suggests a design of the robot in which the angle q1 remains constant during the stance phase. Other possibility is a design in which the hip spring of the superior bar allows lateral balancing without sliding but we have not yet addressed .
