Drive unit for legged robots and control method thereof
A drive unit comprising of a driving motor and of at least two flexible linking members, which twist on each other when a rotational shaft of the driving motor rotates and thus produce a pulling force on a motion element that is attached to or is a part of link of a legged robot's leg mechanism...
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| Format: | Patent |
| Sprache: | eng |
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| Zusammenfassung: | A drive unit comprising of a driving motor and of at least two flexible linking members, which twist on each other when a rotational shaft of the driving motor rotates and thus produce a pulling force on a motion element that is attached to or is a part of link of a legged robot's leg mechanism is disclosed. A control method to control the invented drive unit so that a passive, a passive-dynamic or an active walking modes and transition between the modes of a legged robot is achieved without any additional mechanical means is disclosed. |
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