This project is used for controlling 4-dof robot leg. For driving bldc motors the odrive motor driver is used. For communication with odrive motor driver UART serial communication preferred. MATLAB Simulink is used for observing pos and vel`s, and giving pos to bldc motors.

2024年1月25日 · As a test platform for applying and evaluating the hybrid control method, we constructed a 4-DOF underwater robot leg modeled after the robot in the scenario concept. The robot was designed for swimming underwater, incorporating 4-DOF per leg.

2024年1月4日 · This paper describes the design and development of the 4-DoF parallel linkage leg using spherical links named “MELEW-2LR” (MEiji LEg-Wheeled Robot–No. 2 Leg Refined), and the experiments of the leg tip moving in each of the 4-DoF directions and the experiments of the robot carrying a payload equivalent to its own weight. The updates in ...

2024年7月8日 · Specifically, we introduce a tightly coupled radar-leg odometry algorithm for complementary drift correction. Adopting the 4-DoF optimization and decoupled RANSAC to mmWave chip radar significantly enhances radar odometry beyond the existing method, especially z-directional even when using a single radar.

Currently, we have built and are testing a 4-DOF experimental system. Target motions of the system are hip joint flexion/extension, hip joint abduction/adduction, hip joint external/internal rotation, and knee joint flexion/extension. In this paper, we describe an overview of the 4-DOF experimental system.

2024年9月27日 · In this study, we developed a quadruped-wheeled robot, MELEW-3, with 4-DoFs and an active wheel on each leg. The 4-DoFs in each leg enable the robot to control the steering angle of the wheels in addition to the 3-DoFs of translation and realize smooth slalom running, which has been difficult to achieve with conventional quadruped-wheeled robots.

2009年8月1日 · A 4-DOF over-constrained RRPU + 2UPU parallel manipulator (PM) with 3 legs is proposed, and its kinematics, statics, workspace, and singularity are studied systematically. First, the structure constraints and DOF (degree of freedom) of this PM are analyzed; and the geometric constrained equations are derived.

2024年1月25日 · To achieve this, a Multi-Layer Perceptron neural network is designed to analyze joint torque in relation to the joint angle and angular velocity of the robot, as well as the position and...

To develop a quadruped wheeled robot with high mobility, we have designed and developed the leg mechanism of a quadruped wheeled robot, named “MELEW-2LR” (MEiji LEg-Wheeled Robot–No.2 Leg Refined). MELEW-2LR has a total of 4 degrees of freedom (DoFs), which include translational movements of the leg tip in 3 directions (forward/backward ...

2023年8月1日 · It was applied for a compliant Schönflies motion generator – having three translations and one rotation – resulting in 5 different 4-DoF flexure legs. 4 designs were new compared to the result obtained using the FACT method.