Study on Elastic Elements Allocation for Energy-Efficient Robotic Cheetah Leg

Ivan I. Borisov, Ivan A. Kulagin, Anastasiya E. Larkina, Artem A. Egorov, Sergey A. Kolyubin, Stefano Stramigioli

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

4 Citations (Scopus)

Abstract

The biomimetic approach in robotics is promising: nature has found many good solutions through millions of years of evolution. However, creating a design that enables fast and energy-efficient locomotion remains a major challenge. This paper focuses on the development of a full leg mechanism for a fast and energy-efficient 4-legged robot inspired by a cheetah morphology. In particular, we analyze how the allocation of flexible elements and their stiffness affects the cost of transport and peak power characteristics for vertical jumps and a galloping motion. The study includes the femur and full leg mechanism's locomotory behavior simulation, capturing its interaction with the ground.

Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages1696-1701
Number of pages6
ISBN (Electronic)978-1-7281-4004-9, 978-1-7281-4003-2
ISBN (Print)978-1-7281-4005-6
DOIs
Publication statusPublished - Nov 2019
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems - The Venetian Macao, Macau, China
Duration: 4 Nov 20198 Nov 2019
https://www.iros2019.org/

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE
Volume2019
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2019
CountryChina
CityMacau
Period4/11/198/11/19
Internet address

Keywords

  • Biomechanics
  • Biomimetics
  • Elasticity
  • Legged locomotion
  • Motion control

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