A Compliant Five-Bar Legged Mechanism for Heavy-Load Legged Robots by Using Magneto-Rheological Actuators
Guangzeng Chen,Jiangtao Ran,Chenguang Bai,Pengyu Jie,Yunjiang Lou,Guangzeng Chen,Jiangtao Ran,Chenguang Bai,Pengyu Jie,Yunjiang Lou
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 hysteresis model is derived based on the idea of mappings between different hysteresis loops. With ...
