4 accepted papers
This paper examines a planar, two-degree-of-freedom leg utilizing a redundant drive system consisting of mono- and bi-articular motors, and parallel elasticity. Based on the drivetrain energy model, a closed-form redundant torque-allocation solution using a copper loss minimization criterion is deri
The bi-articular muscle-tendon complex (MTC) in an animal's leg allows a transfer of mechanical power between adjacent joints and exertion of a large force at the toes. It is capable of storing and releasing elastic energy efficiently during motions. In our previous studies, we proposed mechanisms o
Generally, large knee joint torque is required when a leg is flexed. However, the large torque motor will increase the robot size and total weight. Also, a large reduction ratio gear box to realize the large torque will decrease output speed and lower backdrivability of the joint. It makes the robot…
Within the limbs of typical animals, there exist bi-articular muscles crossing two joints. It is known that the bi-articular muscles of the felid play an important role in the locomotion. Also the muscle-tendon complex, composed of the gastrocnemius muscle and the Achilles' tendon that cross the kne…