This series of robotic joint modules integrates six important components, including torque motor, harmonic reducer, controller, driver and encoder. We have achieved lighter weight, higher torque density, reduced weight by more than 1/3, greatly reducing operation energy consumption, and can be applied to the job robot market and industrial automation market.
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Static balance refers to the ability of the robot to maintain stability while in a stationary position or when moving slowly enough that dynamic effects are negligible. This is often managed through precise positioning and control of the robot&#;s center of gravity (COG) relative to its base of support.
Developing static positions for bipedal humanoid robots is challenging due to their inherent instability compared to tripod robots. Bipedal robots lack the same level of balance and support, making it difficult to maintain a stable stance. Achieving this requires advanced control systems and precise mechanics, making it a more complex task than tripod robots.
To achieve static balance, it is essential to understand and control several fundamental concepts:
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Center of Mass (CoM): The point where the mass of the robot is considered to be concentrated. For stable balance, the projection of the CoM onto the ground should lie within the BoS.
Base of Support (BoS): Area enclosed by the robot&#;s points of contact with the ground (e.g. the feet). A larger BoS generally provides better stability.
Zero Moment Point (ZMP): Point on the ground where the resultant of the ground reaction forces acts. For stable balance, the ZMP should lie within the BoS.
Posture Control: Adjustment of the robot&#;s joints and limb positions to maintain or achieve a desired posture that keeps the CoM within the BoS.
Center of Mass (CoM) VS Center of Gravity (CoG): In humanoid robots, the Center of Mass (CoM) is the point where the robot&#;s mass is evenly distributed, acting as the balance point for its mass distribution and remaining constant regardless of the robot&#;s orientation. On the other hand, the Center of Gravity (CoG) is the point where the robot&#;s weight is evenly distributed, influenced by gravity. The CoG can shift with changes in the robot&#;s orientation or when moving in different gravitational fields, as it represents the point where the gravitational force effectively acts on the robot.
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