关键词: 副反力, 间隙, 连杆机构, 运动副, 摆腿回缩, 稳定性, 主动柔顺, 足式机器人

Abstract: The predicting method of contact loss between pairing elements in planar linkages with clearances is improved by theoretical analysis. The precision and stability of the new method are greatly improved. The occurrence of the contact loss between pairing elements in planar linkages with clearances can be predicted more accurately by the improved method.

Key words: Bearing-force, Clearance, Kinetic-pair, Linkages, Active compliance, Legged robots, Stability, Swing leg retraction