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 proceedingConference contributionAcademicpeer-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 languageUndefined
    Title of host publicationProceedings of the 18th IFAC World Congress 2011
    PublisherInternational Federation of Automatic Control (IFAC)
    Pages-
    Number of pages6
    ISBN (Print)978-3-902661-93-7
    DOIs
    Publication statusPublished - Aug 2011
    Event18th IFAC World Congress 2011 - Milan, Italy
    Duration: 28 Aug 20112 Sep 2011
    Conference number: 18
    https://www.ifac2011.org/

    Publication series

    Name
    PublisherInternational Federation of Automatic Control (IFAC)
    Volume18
    ISSN (Print)1474-6670

    Conference

    Conference18th IFAC World Congress 2011
    CountryItaly
    CityMilan
    Period28/08/112/09/11
    Internet address

    Keywords

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

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