{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T13:16:13Z","timestamp":1740143773295,"version":"3.37.3"},"reference-count":19,"publisher":"Wiley","license":[{"start":{"date-parts":[[2020,7,14]],"date-time":"2020-07-14T00:00:00Z","timestamp":1594684800000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["HEUCF180703","51205075"],"award-info":[{"award-number":["HEUCF180703","51205075"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["HEUCF180703","51205075"],"award-info":[{"award-number":["HEUCF180703","51205075"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Applied Bionics and Biomechanics"],"published-print":{"date-parts":[[2020,7,14]]},"abstract":"<jats:p>In order to reduce the energy consumption of the legged robot in walking, this paper designs a kind of nonlinear elastic joint from the flexible variable-stiffness joint based on the mammal walking on the limb and optimizes the leg structure of the legged robot. The motor is rigidly connected to the articulated lever. When the lever is accelerated or decelerated, the elastic unit is introduced. The system can be considered as a special variable-rate elastic system. This paper will study it from theory and simulation experiments. Based on the dynamic analysis, a functional relationship between the output torque and the torsion spring stiffness and between the energy consumption and the torsion spring stiffness was established. By finding the extremum, the two optimum torsional spring stiffness that can minimize the required output average torque and the energy consumed during one cycle of motion were deduced. The results show that using this design in a reasonable position can effectively reduce the energy consumption of the system and can achieve up to a 50% reduction in energy consumption.<\/jats:p>","DOI":"10.1155\/2020\/8894399","type":"journal-article","created":{"date-parts":[[2020,7,14]],"date-time":"2020-07-14T23:33:46Z","timestamp":1594769626000},"page":"1-10","source":"Crossref","is-referenced-by-count":1,"title":["Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot"],"prefix":"10.1155","volume":"2020","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9444-0220","authenticated-orcid":true,"given":"Dongliang","family":"Chen","sequence":"first","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jindong","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xutao","family":"Weng","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yunjian","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhonghui","family":"Shi","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1016\/j.compeleceng.2011.10.008"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-011-9538-8"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2018.02.005"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.20965\/jrm.2000.p0318"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(89)90224-8"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2013.07.009"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-018-0248-y"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1016\/0736-5845(92)90028-5"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143860"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(93)90018-Q"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.3901\/JME.2007.12.222"},{"year":"2005","key":"14"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1016\/j.protcy.2012.03.037"},{"issue":"4","key":"17","first-page":"399","volume":"36","year":"2016","journal-title":"Chinese Journal of Beijing Institute of Technology"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2008747"},{"key":"19","doi-asserted-by":"publisher","DOI":"10.1097\/00002060-199210000-00004"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1115\/1.4025754"},{"issue":"6","key":"21","first-page":"1987","volume":"46","year":"2016","journal-title":"Chinese Journal of Jilin University"},{"issue":"4","key":"22","first-page":"543","volume":"37","year":"2016","journal-title":"Chinese Journal of Northeastern University (Natural Science)"}],"container-title":["Applied Bionics and Biomechanics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/abb\/2020\/8894399.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/abb\/2020\/8894399.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/abb\/2020\/8894399.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,7,14]],"date-time":"2020-07-14T23:33:48Z","timestamp":1594769628000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/abb\/2020\/8894399\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,7,14]]},"references-count":19,"alternative-id":["8894399","8894399"],"URL":"https:\/\/doi.org\/10.1155\/2020\/8894399","relation":{},"ISSN":["1176-2322","1754-2103"],"issn-type":[{"type":"print","value":"1176-2322"},{"type":"electronic","value":"1754-2103"}],"subject":[],"published":{"date-parts":[[2020,7,14]]}}}