300
Torque (Nm)
250
200
150
100
50
0
–50
–100
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
τ 1 Real torque of joint 1
τ 2 Real torque of joint 2
Downswing
Backswing
Followthrough
t t = 0.58
t m = 1.00
t f = 1.43
Time (s)
(c)
12
10
8
6
4
2
0
–2
–4
–6
τ 2d Real dynamically-coupled driving torque of joint 2
t t = 0.58
t m = 1.00
t f = 1.43
FollowBackswing
Downswing
through
Torque (Nm)
0
0.2
0.4
0.6
0.8
Time (s)
(d)
1
1.2
1.4
1.6
79
Human-Inspired Hyper Dynamic Manipulation
FIGURE 4.9 (Continued)
Experimental result without joint stop for V xm = 25 m/s: (c) torque, (d) dynamically coupled
driving torque of joint 2.