张文涛, 葛文杰, 李建华, 江曼, 沈平. “袋鼠”跳跃机器人动力系统方案设计与研究[J]. 机器人, 2008, 30(4): 359-363..
ZHANG Wen-tao, GE Wen-jie, LI Jian-hua, JIANG Man, SHEN Ping. Design and Research on the Power System of "Kangaroo" Hopping Robot. ROBOT, 2008, 30(4): 359-363..
Abstract：A design scheme is presented for the electro-hydraulic actuator power system of "Kangaroo" robot,including design of the hopping device,power system and controlling system.The feasibility of the design scheme is analyzed theoretically,the dynamic equations in the taking-off phase are established with the second order Lagrange formula,and the relationship between speed and power loading in the taking-off phase is obtained by simulation analysis,offering the theoretical basis for the power configuration of "Kangaroo" robot.Finally,experimental result is given to prove the validity of the presented design scheme.
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