Dynamic Modeling for the Impact of Compliant Legged Robot

摘要：

　　Compliant elements play an important role in running and hopping legged robots for improving their speed and energy efficiency.The dynamic model of the compliant legged robot was developed by taking into account the slipping,vibration and distributed compliance of the legs.The parameter variations of the system after impacts were researched for different dropping height and angles by numerical method.Meanwhile,the effectiveness of the model was verified through explicit dynamics analysis software.All these results will provide a theoretical guide for the energy efficiency analysis and mechanical design of the compliant legged robots.

关键词： Dynamic modeling Compliant element Impact Running robot Energy efficiency

作者: Shusheng Bi Xiaodong Zhou Lige Zhang

作者单位: School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China

会议类型: 国际会议

会议名称: The 9th International Conference on History of Mechanical Technology and Mechanical Design (第9届中日机械技术史及机械设计国际会议(ICHMTMD 2012))

会议地点: 台湾

会议语种:英文

页码: 238-241

在线出版日期: 2012-03-23（万方平台首次上网日期，不代表论文的发表时间）