Jiangtao Ran

A Compliant Five-Bar Legged Mechanism for Heavy-Load Legged Robots by Using Magneto-Rheological Actuators

In this paper, a compliant five-bar leg mechanism is proposed, designed and manufactured for heavy-load legged robots, by using two magneto-rheological actuators (MRAs) that are capable of offering a maximal torque of 78Nm. To address the rate-dependent hysteresis of the MRA, a hybrid rate-dependent…