Database

Creator

Date

Thumbnail

Search results

6 records were found.

Recent developments in legged robotics have found that constant stiffness passive compliant legs are an effective mechanism for enabling dynamic locomotion. In spite of its success, one of the limitations of this approach is reduced adaptability. The final leg mechanism usually performs optimally for a small range of conditions such as the desired speed, payload, and terrain. For many situations in which a small locomotion system experiences a change in any of these conditions, it is desirable to have a tunable stiffness leg for effective gait control. ^ To date, the mechanical complexities of designing usefully robust tunable passive compliance into legs has precluded their implementation on practical running robots. In this thesis we present an overview of tunable stiffness legs, and introduce a simple leg model that captures the s...
Recent developments in dynamic legged locomotion have focused on encoding a substantial component of leg intelligence into passive compliant mechanisms. One of the limitations of this approach is reduced adaptability: the final leg mechanism usually performs optimally for a small range of conditions (i.e. a certain robot weight, terrain, speed, gait, and so forth). For many situations in which a small locomotion system experiences a change in any of these conditions, it is desirable to have a variable stiffness leg to tune the natural frequency of the system for effective gait control. In this paper, we present an overview of variable stiffness leg spring designs, and introduce a new approach specifically for autonomous dynamic legged locomotion. We introduce a simple leg model that captures the spatial compliance of the tunable leg in...
Passively compliant legs have been instrumental in the development of dynamically running legged robots. Having properly tuned leg springs is essential for stable, robust and energetically efficient running at high speeds. Recent simulation studies indicate that having variable stiffness legs, as animals do, can significantly improve the speed and stability of these robots in changing environmental conditions. However, to date, the mechanical complexities of designing usefully robust tunable passive compliance into legs has precluded their implementation on practical running robots. This paper describes a new design of a ”structurally controlled variable stiffness” leg for a hexapedal running robot. This new leg improves on previous designs’ performance and enables runtime modification of leg stiffness in a small, lightweight, and rugg...
Biomechanical studies suggest that animals’ abilities to tune their effective leg compliance in response to changing terrain conditions plays an important role in their agile, robust locomotion. However, despite growing interest in leg compliance within the robotics literature, little experimental work has been reported on tunable passive leg compliance in running machines. In this paper we present an empirical study into the role of leg compliance using a composite tunable leg design implemented on our dynamic hexapod, EduBot, with gaits optimized for running speed using a range of leg stiffnesses, on two different surface stiffnesses, and with two different payload configurations (0 kg and 0.91 kg). We found that leg stiffness, surface compliance, and payload had a significant impact on the robot’s final optimized speed and efficienc...
We report on the design and development of X-RHex, a hexapedal robot with a single actuator per leg, intended for real-world mobile applications. X-RHex is an updated version of the RHex platform, designed to offer substantial improvements in power, run-time, payload size, durability, and terrain negotiation, with a smaller physical volume and a comparable footprint and weight. Furthermore, X-RHex is designed to be easier to build and maintain by using a variety of commercial off-the-shelf (COTS) components for a majority of its internals. This document describes the X-RHex architecture and design, with a particular focus on the new ability of this robot to carry modular payloads as a laboratory on legs. X-RHex supports a variety of sensor suites on a small, mobile robotic platform intended for broad, general use in research, defense, ...
We report on the design and development of X-RHex, a hexapedal robot with a single actuator per leg, intended for real-world mobile applications. X-RHex is an updated version of the RHex platform, designed to offer substantial improvements in power, run-time, payload size, durability, and terrain negotiation, with a smaller physical volume and a comparable footprint and weight. Furthermore, X-RHex is designed to be easier to build and maintain by using a variety of commercial off-the-shelf (COTS) components for a majority of its internals. This document describes the X-RHex architecture and design, with a particular focus on the new ability of this robot to carry modular payloads as a laboratory on legs. X-RHex supports a variety of sensor suites on a small, mobile robotic platform intended for broad, general use in research, defense, ...
Want to know more?If you want to know more about this cutting edge product, or schedule a demonstration on your own organisation, please feel free to contact us or read the available documentation at http://www.keep.pt/produtos/retrievo/?lang=en