Design and analysis of an optimal hopper for use in resonance-based locomotion

Ivor Wanders; Gerrit Adriaan Folkertsma; Stefano Stramigioli

doi:10.1109/ICRA.2015.7139923

Design and analysis of an optimal hopper for use in resonance-based locomotion

Ivor Wanders, Gerrit Adriaan Folkertsma, Stefano Stramigioli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

5 Citations (Scopus)

1 Downloads (Pure)

Abstract

Quadrupedal running is an efficient form of locomotion found in nature, which serves as an inspiration for robotics. We believe that a resonance-based approach is the path towards energy-efficient legged locomotion and running robots. The first step in working towards this goal is creating an energy-efficient one-legged hopper. Such a one-legged hopper was designed and constructed. The impact efficiency of the mechanism is calculated analytically, determined in simulation and measured with the prototype. The impact efficiency as calculated from the experiments is found to be in agreement with the analytical expectation and simulation results. Finally, using an electric motor to inject energy by creating a virtual spring with reverse hysteresis, hopping is achieved.

Original language	Undefined
Title of host publication	IEEE International Conference on Robotics and Automation, ICRA 2015
Place of Publication	USA
Publisher	IEEE
Pages	-
Number of pages	6
ISBN (Print)	978-1-4799-6923-4
DOIs	https://doi.org/10.1109/ICRA.2015.7139923
Publication status	Published - May 2015
Event	2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: 26 May 2015 → 30 May 2015

Publication series

Name
Publisher	IEEE Robotics and Automation Society

Conference

Conference	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Abbreviated title	ICRA
Country/Territory	United States
City	Seattle
Period	26/05/15 → 30/05/15

Keywords

EWI-26486
Legged locomotion
Robot
Kinematics
Dynamics
parallel stiffness
IR-98291
METIS-315045

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ICRA.2015.7139923

http://eprints.eemcs.utwente.nl/secure2/26486/01/07139923.pdf

Cite this

@inproceedings{b8078750016f4dc5bc52b486bcf7aca3,

title = "Design and analysis of an optimal hopper for use in resonance-based locomotion",

abstract = "Quadrupedal running is an efficient form of locomotion found in nature, which serves as an inspiration for robotics. We believe that a resonance-based approach is the path towards energy-efficient legged locomotion and running robots. The first step in working towards this goal is creating an energy-efficient one-legged hopper. Such a one-legged hopper was designed and constructed. The impact efficiency of the mechanism is calculated analytically, determined in simulation and measured with the prototype. The impact efficiency as calculated from the experiments is found to be in agreement with the analytical expectation and simulation results. Finally, using an electric motor to inject energy by creating a virtual spring with reverse hysteresis, hopping is achieved.",

keywords = "EWI-26486, Legged locomotion, Robot, Kinematics, Dynamics, parallel stiffness, IR-98291, METIS-315045",

author = "Ivor Wanders and Folkertsma, {Gerrit Adriaan} and Stefano Stramigioli",

note = "10.1109/ICRA.2015.7139923 ; 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 ; Conference date: 26-05-2015 Through 30-05-2015",

year = "2015",

month = may,

doi = "10.1109/ICRA.2015.7139923",

language = "Undefined",

isbn = "978-1-4799-6923-4",

publisher = "IEEE",

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booktitle = "IEEE International Conference on Robotics and Automation, ICRA 2015",

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Wanders, I, Folkertsma, GA & Stramigioli, S 2015, Design and analysis of an optimal hopper for use in resonance-based locomotion. in IEEE International Conference on Robotics and Automation, ICRA 2015. IEEE, USA, pp. -, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, Washington, United States, 26/05/15. https://doi.org/10.1109/ICRA.2015.7139923

TY - GEN

T1 - Design and analysis of an optimal hopper for use in resonance-based locomotion

AU - Wanders, Ivor

AU - Folkertsma, Gerrit Adriaan

AU - Stramigioli, Stefano

N1 - 10.1109/ICRA.2015.7139923

PY - 2015/5

Y1 - 2015/5

N2 - Quadrupedal running is an efficient form of locomotion found in nature, which serves as an inspiration for robotics. We believe that a resonance-based approach is the path towards energy-efficient legged locomotion and running robots. The first step in working towards this goal is creating an energy-efficient one-legged hopper. Such a one-legged hopper was designed and constructed. The impact efficiency of the mechanism is calculated analytically, determined in simulation and measured with the prototype. The impact efficiency as calculated from the experiments is found to be in agreement with the analytical expectation and simulation results. Finally, using an electric motor to inject energy by creating a virtual spring with reverse hysteresis, hopping is achieved.

AB - Quadrupedal running is an efficient form of locomotion found in nature, which serves as an inspiration for robotics. We believe that a resonance-based approach is the path towards energy-efficient legged locomotion and running robots. The first step in working towards this goal is creating an energy-efficient one-legged hopper. Such a one-legged hopper was designed and constructed. The impact efficiency of the mechanism is calculated analytically, determined in simulation and measured with the prototype. The impact efficiency as calculated from the experiments is found to be in agreement with the analytical expectation and simulation results. Finally, using an electric motor to inject energy by creating a virtual spring with reverse hysteresis, hopping is achieved.

KW - EWI-26486

KW - Legged locomotion

KW - Robot

KW - Kinematics

KW - Dynamics

KW - parallel stiffness

KW - IR-98291

KW - METIS-315045

U2 - 10.1109/ICRA.2015.7139923

DO - 10.1109/ICRA.2015.7139923

M3 - Conference contribution

SN - 978-1-4799-6923-4

SP - -

BT - IEEE International Conference on Robotics and Automation, ICRA 2015

PB - IEEE

CY - USA

T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015

Y2 - 26 May 2015 through 30 May 2015

ER -