Experimental Investigations into the Role of Passive Variable Compliant Legs for Dynamic Robotic Locomotion
Biomechanical studies suggest that animals’ abilities to tune their effective leg compliance in response to changing terrain conditions plays an important role in their agile, robust locomotion. However, despite growing interest in leg compliance within the robotics literature, little experimental work has been reported on tunable passive leg compliance in running machines. In this paper we present an empirical study into the role of leg compliance using a composite tunable leg design implemented on our dynamic hexapod, EduBot, with gaits optimized for running speed using a range of leg stiffnesses, on two different surface stiffnesses, and with two different payload configurations (0 kg and 0.91 kg). We found that leg stiffness, surface compliance, and payload had a significant impact on the robot’s final optimized speed and efficiency. These results document the value and efficacy of what we believe is the first autonomous dynamic legged robot capable of runtime leg stiffness adjustment.
Kevin C. Galloway Jonathan E. Clark Mark Yim Daniel E. Koditschek
Wyss Institute for Biologically Inspired Engineering,Harvard University,Boston,MA 02115, Department of Mechanical Engineering,Florida A&M-Florida State University,Tallahassee,FL 32310 Department of Mechanical Engineering and Applied Mechanics,University of Pennsylvania,Philadelphia,P Department of Electrical and Systems Engineering,University of Pennsylvania,Philadelphia,PA 19104
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1243-1249
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）