Dynamic Modeling for the Impact of Compliant Legged Robot

Shu Sheng Bi; Xiao Dong Zhou; Li Ge Zhang

doi:10.4028/www.scientific.net/AMM.163.238

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 163Dynamic Modeling for the Impact of Compliant...

Dynamic Modeling for the Impact of Compliant Legged Robot

Abstract:

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.

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Periodical:

Applied Mechanics and Materials (Volume 163)

Pages:

238-241

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.163.238

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Online since:

April 2012

Authors:

Shu Sheng Bi, Xiao Dong Zhou, Li Ge Zhang

Keywords:

Compliant Element, Dynamic Modeling, Energy Efficiency, Impact, Running Robot

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