Abstract
Investigators discuss new findings in robotics. According to news reporting originating from Shanghai, People’s Republic of China, by NewsRx correspondents, research stated, “In this paper, a biped robot system for dynamic walking is presented.” The news correspondents obtained a quote from the research from University of Shanghai for Science and Technology: “It has two 2-degree-of-freedom (DOF) lightweight legs and a 6-DOF hip. All the joint pulleys of the legs are driven by motors that are placed at the hip using steel cables. Since all the heavy motors are mounted at the hip, the biped robot has remarkably low-mass legs beyond the hip, which guarantees low inertia during walking at high speeds. Utilizing cable-amplification mechanisms, high stiffness and strength are achieved, resulting in better control performance compared to conventional directdriven methods. Techniques are developed to estimate joint-angle errors caused by the elastic deformation of the cables. To achieve smooth control, we introduce the concept of a virtual leg, which is an imaginary leg connecting the hip joint and the ankle joint.”
NETL
NSTL