Robot Leg Mechanisms
نویسندگان
چکیده
Chapter 1: Introduction Chapter 2: Human Walk Chapter 3: Study of Robot Leg Mechanisms 3.1 Effectiveness of leg joints relating to the walking. 3.2 Locations of leg joints. 3.3 Movable extent of leg joints. 3.4 Dimension, weight and center of gravity of a leg. 3.5 Torque placed on leg joints during the walking. 3.6 Sensors relating to the walking. 3.7 Grounding impact on leg joints during the walking. 3.8 The requirements for an ideal walking machine Chapter 4: Leg Mechanisms 4.1 Simple two-link leg 4.2 Mammalian Leg 4.3 Pentagraph Leg 4.4 Pantograph Leg Chapter 5: Study of Simple Two-Link Manipulator Leg Design Chapter 6: Control System 6.1 Functional decomposition 6.2 Structure of the hardware system Chapter 7: Mechanism of a Leg-Wheel Hybrid Mobile Robot 7.1 Locomotion mechanism and environment 7.2 Proposed locomotion mechanism Conclusion References
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