Abstract
This paper describes a mechanical design of a walking robot that has hybrid actuation system. In our design, engine actuator is applied as power source of the walking robot to realize practical cruising range. To perform that, two actuation mechanisms are applied: (i) electrical motor based mechanism and (ii) is powder clutch joint driving mechanism. This actuation system offers an opportunity to distribute engine power to many joints of walking robot, and to realize separate motion of every joint.
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References
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© 2006 Springer-Verlag Berlin Heidelberg
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Inagaki, K., Mitsuhashi, H. (2006). A Design of a Walking Robot with Hybrid Actuation System. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_92
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DOI: https://doi.org/10.1007/3-540-26415-9_92
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
Online ISBN: 978-3-540-26415-6
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