Energy saving passive-dynamic gait for a one-legged hopping robot

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Title

Energy saving passive-dynamic gait for a one-legged hopping robot (EN)

Creator

Cherouvim, N (EN)

Papadopoulos, E (EN)

Type

journalArticle (EN)

Partial document
Publication in journal (EN)

Article
Scientific article (EN)

Issued

2014-03-01T01:24:18Z

2006 (EN)

Year

2006 (EN)

Description

Increasing the energy autonomy of a hopping one-legged robot is studied in this paper. For a particular passive gait, of all those possible, the energy dissipated per unit length of travel is shown to be less than for any other gait. This optimal gait is identified analytically, by exploiting the commonly used SLIP model to simplify real robot dynamics. Both mechanical and electrical losses are considered. The accuracy of the optimal gait analytical prediction is evaluated by a numerical analysis of a realistic robot model. Finally, restrictions imposed on executing the optimal gait due to motor limitations are studied. © 2006 Cambridge University Press. (EN)

Scientific field

Robotics (EN)

Engineering and Technology ▶ Electrical engineering, Electronic engineering, Information engineering
Robotics (EN)

Subject

Optimal systems (EN)

Passive hopping (EN)

Numerical analysis (EN)

Mechanical properties (EN)

Slip model (EN)

Gait analysis (EN)

Robotics (EN)

Hopping robot (EN)