Paper Title:
Effects of Torsional Stiffness and Preload on a Hopping Robot with Two-Segment Legs
  Abstract

In this study, we present the effects of design parameters on the performance of a hopping robot. In particular, we focus on the effects of torsional stiffness and preload on a hopping model with two-segment legs having passive knee joints with torsional stiffness. One of the objectives for a field robot is the ability to travel quickly with energy efficiency [1]. Therefore, it is important to determine what range of each design variable is proper to realize not only the high forward speed for great mobility, but also the low torque consumption for energy efficiency. Accordingly, we describe both the analogy simulation of a hopping gait with two-segment legs and the results of this simulation.

  Info
Periodical
Chapter
Chapter 1: Applied Mechanics Mechanical Engineering
Edited by
Honghua Tan
Pages
153-158
DOI
10.4028/www.scientific.net/AMM.138-139.153
Citation
D. H. Shin, J. N. An, "Effects of Torsional Stiffness and Preload on a Hopping Robot with Two-Segment Legs", Applied Mechanics and Materials, Vols. 138-139, pp. 153-158, 2012
Online since
November 2011
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Price
$32.00
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