[1] AGUIRRE-OLLINGER G,YU H. Lower-limb exoskeleton with variable-structure series elastic actuators:Phase-synchronized force control for gait asymmetry correction[J]. IEEE Transactions on Robotics,2020(99):1-17. [2] KATZ B,CARLO J D,KIM S. Mini Cheetah:A platform for pushing the limits of dynamic quadruped control[C]//International Conference on Robotics and Automation (ICRA),Montreal,Canada,2019:6295-6301. [3] ZHANG T,HUANG H. Design and control of a series elastic actuator with clutch for hip exoskeleton for precise assistive magnitude and timing control and improved mechanical Safety[J]. IEEE/ASME Transactions on Mechatronics,2019,24(5):2215-2226. [4] BLEDT G,POWELL M J,KATZ B,et al. MIT cheetah 3:Design and control of a robust,dynamic quadruped robot[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),Madrid,Spain,2018:2245-2252. [5] NIETO E A B,REZAZADEH S,GREGG R D. Minimizing energy consumption and peak power of series elastic actuators:A convex optimization framework for elastic element design[J]. IEEE/ASME Transactions on Mechatronics,2019,24(3):1334-1345. [6] WENSING P M,WANG A,SEOK S,et al. Proprioceptive actuator design in the MIT cheetah:Impact mitigation and high-bandwidth physical interaction for dynamic legged robots[J]. IEEE Transactions on Robotics,2017,33(3):509-522. [7] KAU N,SCHULTZ A,FERRANTE N,et al. Stanford Doggo:An open-source,quasi-direct-drive quadruped[C]//International Conference on Robotics and Automation (ICRA), Montreal,QC,Canada,2019:6309-6315. [8] LEE Y S,CHIAO K W,LAN C C. A hybrid impedance controller for series elastic actuators to render a wide range of stable stiffness in uncertain environments[J]. IEEE Robotics and Automation Letters,2021,6(2):739-746. [9] GUENTHER F,VU H Q,IIDA F. Improving legged robot hopping by using coupling-based series elastic actuation[J]. IEEE/ASME Transactions on Mechatronics,2019,24(2):413-423. [10] 韩亚丽,郝大彬,于建铭,等. 新型多模式弹性驱动器的弹跳性能研究[J]. 机械工程学报,2016,52(9):96-104. HAN Yali,HAO Dabin,YU Jianming,et al. Bounce performance study on novel multi-mode elastic actuator[J]. Journal of Mechanical Engineering,2016,52(9):96-104. [11] SPAA L F V D,WOLFSLAG W J,WISSE M. Unparameterized optimization of the spring characteristic of parallel elastic actuators[J]. IEEE Robotics and Automation Letters,2019,4(2):854-861. [12] LIU X,ROSSI A,POULAKAKIS I. A switchable parallel elastic actuator and its application to leg design for running robots[J]. IEEE/ASME Transactions on Mechatronics,2018,23(6):2681-2692. [13] WOLF S,GRIOLI G,EIBERGER O,et al. Variable stiffness actuators:Review on design and components[J]. IEEE/ASME Transactions on Mechatronics,2016,21(5):2418-2430. [14] VU H Q,YU X,LIDA F,et al. Improving energy efficiency of hopping locomotion by using a variable stiffness actuator[J]. IEEE/ASME Transactions on Mechatronics,2016,21(1):472-486. [15] CHAICHAOWARAT R,KINUGAWA J,SEINO A,et al. A spring-embedded planetary-geared parallel elastic actuator[C]//IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM),Boston,MA,USA,2020:952-959. [16] VERSTRATEN T,FURNéMONT R,BECKERLE P,et al. A hopping robot driven by a series elastic dual-motor actuator[J]. IEEE Robotics and Automation Letters,2019,4(3):2310-2316. [17] ROUSE E J,MOONEY L M,HERR H M. Clutchable series-elastic actuator:Implications for prosthetic knee design[J]. International Journal of Robotics Research,2014,33(13):1611-1625. [18] 魏敦文,葛文杰,高涛. 仿生灵感下的弹性驱动器的研究综述[J]. 机器人,2017,39(4):541-550. WEI Dunwen,GE Wenjie,GAO Tao. Review of elastic actuator research from bionic inspiration[J]. Robot,2017,39(4):541-550. [19] MATHIJSSEN G,LEFEBER D,VANDERBORGHT B. Variable recruitment of parallel elastic elements:Series-parallel elastic actuators (SPEA) with dephased mutilated gears[J]. IEEE/ASME Transactions on Mechatronics,2015,20(2):594-602. [20] 李端玲,张忠海,戴建生,等. 变胞机构的研究综述与展望[J]. 机械工程学报,2010,46(13):14-21. LI Duanling,ZHANG Zhonghai,DAI Jiansheng,et al. Overview and prospects of metamorphic mechanism[J]. Journal of Mechanical Engineering,2010,46(13):14-21. [21] VERSTRATEN T,FURNEMONT R,LOPEZ-GARCIA P,et al. Kinematically redundant actuators,a solution for conflicting torque-speed requirements[J]. International Journal of Robotics Research,2019,38(5):612-629. |