| 摘要 |
A legged robotic device is disclosed. The legged robotic device can include a partially formed mechanism by a plurality of support members coupled to each other for relative movement defining a plurality of degrees of freedom, at least some of the plurality of degrees of freedom corresponding to degrees of freedom of a human leg. Moreover, the legged robotic device can include a primary drive actuator operable to apply a force or torque to the support members in a plurality of first degrees of freedom. In addition, the legged robotic device can include a second actuator operable to apply a force or torque to the support members in a plurality of second degrees of freedom. The mechanism can be configured to move in a gait-like motion that emulates a human gait. The primary drive actuator can be sufficient to actuate the mechanism to move the mechanism in a gait-like motion. The mechanism can be dynamically modified by actuating the second actuator. |
