首页|Middle East Technical University Reports Findings in Robotics (Design and verification of a parallel elastic robotic leg)
Middle East Technical University Reports Findings in Robotics (Design and verification of a parallel elastic robotic leg)
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New research on Robotics is the subject of a report. According to news originating from Ankara, Turkey, by NewsRx correspondents, research stated, “This paper presents the design and experimental verification of a parallel elastic robotic leg mechanism that aims to capture the dynamics of the linear mass-spring-damper model. The mechanism utilizes a wrapping cam mechanism to linearize the non-linear force resulting from the elongation of the parallel elastic element.” Our news journalists obtained a quote from the research from Middle East Technical University, “Firstly, we explain the desired dynamics of the mass-spring-damper model, including the impact transitions, and the design of the wrapping cam mechanism. Then, we introduce a system identification procedure to estimate the parameters of the leg mechanism corresponding to the dynamic model. Estimated parameters are tested with a cross-validation approach to evaluate the mechanism’s performance in tracking the desired model. Experimental results show that the passive dynamics of the mechanism resemble the linear model as intended.”
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