Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running
Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running
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DOI：
10.1115/1.4007843
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发表时间：
2013-02
期刊：
影响因子：
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通讯作者：
Kevin C. Galloway;Jonathan E. Clark;D. Koditschek
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文献类型：
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作者：
Kevin C. Galloway;Jonathan E. Clark;D. Koditschek
人类和动物在跑步过程中会根据内部（例如负载）和外部（例如表面）变化来调整腿部阻抗。迄今为止，设计有效稳健的可调谐被动柔顺性腿部的机械复杂性阻碍了它们在实际运行机器人上的实施。这项工作描述了六足跑步机器人的新型结构控制刚度腿的设计，以便能够在小型、轻质且坚固的封装中实现腿部刚度的运行时修改。作为本研究的一部分，我们还研究了不同的腿部刚度对动态运行机器人性能的影响。欲了解更多信息：Kod*Lab
Humans and animals adapt their leg impedance during running for both internal (e.g., loading) and external (e.g., surface) changes. To date, the mechanical complexity of designing usefully robust tunable passive compliance into legs has precluded their implementation on practical running robots. This work describes the design of novel, structure-controlled stiffness legs for a hexapedal running robot to enable runtime modification of leg stiffness in a small, lightweight, and rugged package. As part of this investigation, we also study the effect of varying leg stiffness on the performance of a dynamical running robot. For more information: Kod*Lab