Abstract
The paper presents the design of walking leg for bionics crab-like robot, which is driven with micro servo motor. The kinematic characteristics of the bionics machine are analysed for optimized structure parameters, which has been used in the robot design. A three closed loop motor control system structure for joint driver is also given, as well as the multi-joint driving system for walking robot leg.
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Supported by the National Natural Science Foundation of China (60175029).
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Wang, Lq., Qu, Xr., Meng, Qx. et al. Motor driving leg design for bionic crab-like robot. JMSA 1, 72–77 (2002). https://doi.org/10.1007/BF02935844
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DOI: https://doi.org/10.1007/BF02935844