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

doi:10.1109/IROS40897.2019.8968595

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

University of Twente

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

6 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 language	English
Title of host publication	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	1696-1701
Number of pages	6
ISBN (Electronic)	978-1-7281-4004-9, 978-1-7281-4003-2
ISBN (Print)	978-1-7281-4005-6
DOIs	https://doi.org/10.1109/IROS40897.2019.8968595
Publication status	Published - Nov 2019
Event	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems - The Venetian Macao, Macau, China Duration: 4 Nov 2019 → 8 Nov 2019 https://www.iros2019.org/

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Publisher	IEEE
Volume	2019
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated title	IROS 2019
Country/Territory	China
City	Macau
Period	4/11/19 → 8/11/19
Internet address	https://www.iros2019.org/

Keywords

Biomechanics
Biomimetics
Elasticity
Legged locomotion
Motion control

Access to Document

10.1109/IROS40897.2019.8968595

Cite this

Borisov, I. I., Kulagin, I. A., Larkina, A. E., Egorov, A. A., Kolyubin, S. A., & Stramigioli, S. (2019). Study on Elastic Elements Allocation for Energy-Efficient Robotic Cheetah Leg. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 1696-1701). [8968595] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2019). IEEE. https://doi.org/10.1109/IROS40897.2019.8968595

@inproceedings{483a1f7513a9417b80b59383565ab849,

title = "Study on Elastic Elements Allocation for Energy-Efficient Robotic Cheetah Leg",

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.",

keywords = "Biomechanics, Biomimetics, Elasticity, Legged locomotion, Motion control",

author = "Borisov, {Ivan I.} and Kulagin, {Ivan A.} and Larkina, {Anastasiya E.} and Egorov, {Artem A.} and Kolyubin, {Sergey A.} and Stefano Stramigioli",

year = "2019",

month = nov,

doi = "10.1109/IROS40897.2019.8968595",

language = "English",

isbn = "978-1-7281-4005-6",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

pages = "1696--1701",

booktitle = "2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019",

address = "United States",

note = "2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 ; Conference date: 04-11-2019 Through 08-11-2019",

url = "https://www.iros2019.org/",

}

Borisov, II, Kulagin, IA, Larkina, AE, Egorov, AA, Kolyubin, SA & Stramigioli, S 2019, Study on Elastic Elements Allocation for Energy-Efficient Robotic Cheetah Leg. in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019., 8968595, IEEE International Conference on Intelligent Robots and Systems, vol. 2019, IEEE, Piscataway, NJ, pp. 1696-1701, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China, 4/11/19. https://doi.org/10.1109/IROS40897.2019.8968595

Study on Elastic Elements Allocation for Energy-Efficient Robotic Cheetah Leg. / Borisov, Ivan I.; Kulagin, Ivan A.; Larkina, Anastasiya E. et al.

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Piscataway, NJ : IEEE, 2019. p. 1696-1701 8968595 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2019).

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

TY - GEN

T1 - Study on Elastic Elements Allocation for Energy-Efficient Robotic Cheetah Leg

AU - Borisov, Ivan I.

AU - Kulagin, Ivan A.

AU - Larkina, Anastasiya E.

AU - Egorov, Artem A.

AU - Kolyubin, Sergey A.

AU - Stramigioli, Stefano

PY - 2019/11

Y1 - 2019/11

N2 - 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.

AB - 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.

KW - Biomechanics

KW - Biomimetics

KW - Elasticity

KW - Legged locomotion

KW - Motion control

UR - http://www.scopus.com/inward/record.url?scp=85081156124&partnerID=8YFLogxK

U2 - 10.1109/IROS40897.2019.8968595

DO - 10.1109/IROS40897.2019.8968595

M3 - Conference contribution

AN - SCOPUS:85081156124

SN - 978-1-7281-4005-6

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 1696

EP - 1701

BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019

PB - IEEE

CY - Piscataway, NJ

T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 4 November 2019 through 8 November 2019

ER -

Borisov II, Kulagin IA, Larkina AE, Egorov AA, Kolyubin SA, Stramigioli S. Study on Elastic Elements Allocation for Energy-Efficient Robotic Cheetah Leg. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Piscataway, NJ: IEEE. 2019. p. 1696-1701. 8968595. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS40897.2019.8968595

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

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this