Title :
Effects of torsional stiffness, knee angle, and link ratio on the design of a biologically inspired mobile robot with two-segment legs
Author :
Shin, Dong-Hwan ; Kim, Youngshik ; An, Jinung
Author_Institution :
Public & Original Technol. Res. Center, Daegu Gyeongbuk Inst. of Sci. & Technol., Daegu, South Korea
Abstract :
In this study we discuss two-segment leg´s parameters, torsional stiffness, knee angle, and link ratio, for a biologically inspired terrestrial robot with four legs. Each leg has two-segment links and a passive joint. Simulation results then verify soft leg´s effectiveness compared to a robot with stiff legs.
Keywords :
biomimetics; elastic constants; legged locomotion; nonlinear systems; robot kinematics; springs (mechanical); biologically inspired mobile robot; knee angle; link ratio; passive joint; spring loaded inverted pendulum; terrestrial robot; torsional stiffness; two segment leg; Force; Joints; Knee; Leg; Legged locomotion; Biologically Inspired; SLIP(Spring Loaded Inverted Pendulum); Two Segment Leg;
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1
