http://ras.papercept.net/images/temp/IROS/files/3044.pdf WebGDA (Gravitationally Decoupled Actuation) and MDA (Motion Decoupled Actuation) are the most famous of the techniques. The GDA is a concept to avoid energy loss that is generated by interference of actuations (Hirose 1984). Then, the notion of the MDA is to make a purpose of actuation clear (Koyachi et al. 1991).

Stair-climbing control of self-contained hexapod with …

WebDec 1, 2012 · [Show full abstract] delivering based on the two decoupled actuation ways, GDA (Gravitationally Decoupled Actuation) and MDA (Motion Decoupled Actuation) . An approximately straight line linkage ... WebAug 1, 2014 · It means that during the support phase, there is at least one actuator that, at the same time, is moving and withstanding the weight.On the contrary, in gravitationally decoupled (GD) legs, the moving actuators do not bear the weight,and theoretically, no power is expected during the stance phase of GD legs due to the robot weight. toyota scion 2009 xd

Kinematic Design and Optimisation of a Quadruped Robot with Six ...

Webgravitationally decoupled actuation (GDA) and the coupled drive. The GDA decouples the driving system against the gravitational field to suppress generation of negative power … WebOct 13, 2007 · The purpose of the project is to design and build a wireless wall climbing robot to accomplish remotely ultrasonic and visual inspections in large gas containers, avoiding in this way the necessity... WebThe design principle of a leg called a gravitationally decoupled actuator (GDA) is shown to be indispensable for realizing energetically efficient walking mo tion. A novel mechanism, the three-dimensional Cartesian- coordinate pantograph (PANTOMEC), which follows the GDA principle and has a lightweight structure, is introduced. toyota scion 2010 tc