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

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 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	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

Borisov, Ivan I. ; Kulagin, Ivan A. ; Larkina, Anastasiya E. ; Egorov, Artem A. ; Kolyubin, Sergey A. ; Stramigioli, Stefano. / Study on Elastic Elements Allocation for Energy-Efficient Robotic Cheetah Leg. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Piscataway, NJ : IEEE, 2019. pp. 1696-1701 (IEEE International Conference on Intelligent Robots and Systems).

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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.",

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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.; Egorov, Artem A.; Kolyubin, Sergey A.; Stramigioli, Stefano.

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

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AU - Kolyubin, Sergey A.

AU - Stramigioli, Stefano

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KW - Biomimetics

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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). https://doi.org/10.1109/IROS40897.2019.8968595

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

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