Mechanical Design and Control of Compliant Leg for a Quadruped Robot
[ 1 ] Instytut Automatyki, Robotyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee
2018
chapter in monograph / paper
english
- legged robots
- serial Elastic Actuators
- elastic tendon
EN In this paper, we propose a new mammal-like mechanical design of the compliant robotic leg. We propose the application of elastic components to reduce the mechanical impact during landing phase and protect the gearboxes of the servomotors. We also use the elastic tendon which stores the energy in springs. The stored energy is then released at the beginning of the flight phase to increase the height of the jump. We propose and verify the dynamic model of the leg. Finally, in the series of experiments, we show the mechanical properties of the leg.
2018
500 - 509
20
WoS (15)