The Analysis of Mechanical Structure of a Robotic Leg in Running for Impact Mitigation

Cited 1 time in webofscience Cited 0 time in scopus
  • Hit : 431
  • Download : 0
Legged robots suffer from the impact due to the consistent collisions with the ground. At the moment of collision, the sudden impact force not only causes the legs to lose contact off the ground, but can also reduce controllability and durability. This phenomenon becomes worse for the robots in running. In order to mitigate such an impact effectively, this study focuses on the mechanical structure of the legs, unlike the previous studies, which focused on the component level. The mechanical structures include actuator configuration, segment ratio, total length, and flexion direction. Contact inertia (CI), closely related to the impact, is derived and utilized to analyze the mechanical structure in terms of impact mitigation. A series of impact experiments with a fabricated leg verify that the mechanical structure affects mitigating the impact.
Publisher
MDPI
Issue Date
2020-02
Language
English
Article Type
Article
Citation

APPLIED SCIENCES-BASEL, v.10, no.4

ISSN
2076-3417
DOI
10.3390/app10041365
URI
http://hdl.handle.net/10203/274134
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 1 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0