Patent ID: 11969899
Assignee: YANSHAN UNIVERSITY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 1:
2. The method for generating a novel impedance configuration for a 3DOF robotic leg according to claim 1, wherein before the obtaining a mathematical model of a hydraulic drive system of the leg of a to-be-controlled robot, the method further comprises:
obtaining a length of each member in the hydraulic drive system of the leg of the to-be-controlled robot, the rotation angle of each joint, and the torque of each joint, wherein a thigh member, a crus member, and a foot member are comprised;
constructing the leg kinematics model based on the length of each member and the rotation angle of each joint;
constructing the leg statics model based on the length of each member, the rotation angle of each joint, and the torque of each joint; and
constructing the leg dynamics model based on a Lagrangian dynamics equation.