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Simple running models with and without elastic spring, active actuator, and dissipative elements.

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  • معلومة اضافية
    • الموضوع:
      2021
    • Collection:
      Smithsonian Institution: Digital Repository
    • نبذة مختصرة :
      (A) The Spring-mass model comprises a point-mass body and a massless spring for a leg. (B) The Actuator-only model replaces the spring with a massless, active actuator producing extension forces in the leg [ 14 ]. (C) The proposed Actuated Spring-mass model combines an actuator and a spring (analogous to a muscle-tendon unit), along with two passive, dissipative elements: a damper in parallel with the spring to model tendon hysteresis, and collision loss to model dissipation of kinetic energy at touchdown. In the models, g is gravitational acceleration and M is body mass. L l (t) , L t (t) , and L m (t) are time-varying lengths of the leg, spring and actuator, respectively. Parameters k and c are spring stiffness and damping coefficient. F m (t) is the active actuator force in the leg’s extension direction.
    • Relation:
      https://figshare.com/articles/figure/Simple_running_models_with_and_without_elastic_spring_active_actuator_and_dissipative_elements_/17071553
    • الرقم المعرف:
      10.1371/journal.pcbi.1009608.g002
    • الدخول الالكتروني :
      https://doi.org/10.1371/journal.pcbi.1009608.g002
    • Rights:
      CC BY 4.0
    • الرقم المعرف:
      edsbas.819E60A9