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 | |
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 |
Keywords
- Biomechanics
- Biomimetics
- Elasticity
- Legged locomotion
- Motion control