Performance Comparison of a Planar Bipedal Robot with Rigid and Compliant Legs

M. Jafarian; Matin Jafarian; Gijs van Oort; Raffaella Carloni; Stefano Stramigioli

doi:10.3182/20110828-6-IT-1002.01183

Performance Comparison of a Planar Bipedal Robot with Rigid and Compliant Legs

M. Jafarian, Matin Jafarian, Gijs van Oort, Raffaella Carloni, Stefano Stramigioli

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

3 Citations (Scopus)

Abstract

The purpose of this work is to study the effect of placing passive storage elements (springs) along the robot legs on its performance. We first present the model of a planar passive dynamic walker with compliant ground contact model, then replace its rigid legs with compliant legs. Simulation results validate the effectiveness of compliant legs in improving the performance (robustness and velocity) of the robot.

Original language	Undefined
Title of host publication	Proceedings of the 18th IFAC World Congress 2011
Publisher	International Federation of Automatic Control (IFAC)
Pages	-
Number of pages	6
ISBN (Print)	978-3-902661-93-7
DOIs	https://doi.org/10.3182/20110828-6-IT-1002.01183
Publication status	Published - Aug 2011
Event	18th IFAC World Congress 2011 - Milan, Italy Duration: 28 Aug 2011 → 2 Sep 2011 Conference number: 18 https://www.ifac2011.org/

Publication series

Name
Publisher	International Federation of Automatic Control (IFAC)
Volume	18
ISSN (Print)	1474-6670

Conference

Conference	18th IFAC World Congress 2011
Country/Territory	Italy
City	Milan
Period	28/08/11 → 2/09/11
Internet address	https://www.ifac2011.org/

Keywords

METIS-278711
Compliancy
Bipedal Robot
EC Grant Agreement nr.: FP7/231554
Passive Dynamic Walking
Limit Cycles
EWI-20075
IR-77998

Access to Document

10.3182/20110828-6-IT-1002.01183

http://eprints.eemcs.utwente.nl/secure2/20075/01/IFAC11_1183_FI.pdf

Cite this

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title = "Performance Comparison of a Planar Bipedal Robot with Rigid and Compliant Legs",

abstract = "The purpose of this work is to study the effect of placing passive storage elements (springs) along the robot legs on its performance. We first present the model of a planar passive dynamic walker with compliant ground contact model, then replace its rigid legs with compliant legs. Simulation results validate the effectiveness of compliant legs in improving the performance (robustness and velocity) of the robot.",

keywords = "METIS-278711, Compliancy, Bipedal Robot, EC Grant Agreement nr.: FP7/231554, Passive Dynamic Walking, Limit Cycles, EWI-20075, IR-77998",

author = "M. Jafarian and Matin Jafarian and {van Oort}, Gijs and Raffaella Carloni and Stefano Stramigioli",

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Jafarian, M, Jafarian, M, van Oort, G, Carloni, R & Stramigioli, S 2011, Performance Comparison of a Planar Bipedal Robot with Rigid and Compliant Legs. in Proceedings of the 18th IFAC World Congress 2011. International Federation of Automatic Control (IFAC), pp. -, 18th IFAC World Congress 2011, Milan, Italy, 28/08/11. https://doi.org/10.3182/20110828-6-IT-1002.01183

Performance Comparison of a Planar Bipedal Robot with Rigid and Compliant Legs. / Jafarian, M.; Jafarian, Matin; van Oort, Gijs; Carloni, Raffaella; Stramigioli, Stefano.

Proceedings of the 18th IFAC World Congress 2011. International Federation of Automatic Control (IFAC), 2011. p. -.

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

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