Affiliation:
1. Faculty of Science and Technology, University of Ulster, Newtownabbey, Northern Ireland
Abstract
The paper examines a two-degree-of-freedom serial-operated mechanical leg, driven by rotary actuators at hip and knee joints. When determining dynamic effects, three foot trajectories are compared: (a) ballistic, in which the foot is literally thrown from the end of the step to its start, (b) rectangular and (c) smoothed rectangular. In each case the conditions for minimum total energy are determined. In addition, when the trajectory is a smoothed rectangle, energies and powers for each actuator are calculated, and optimum conditions determined.
Cited by
2 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献