Name
Title | ||
|---|---|---|
Design and Implementation of Symmetric Legged Robot for Highly Dynamic Jumping and Impact Mitigation |
Abstract | ||
|---|---|---|
Aiming at highly dynamic locomotion and impact mitigation, this paper proposes the design and implementation of a symmetric legged robot. Based on the analysis of the three-leg topology in terms of force sensitivity, force production, and impact mitigation, the symmetric leg was designed and equipped with a high torque density actuator, which was assembled by a custom motor and two-stage planetary. Under the kinematic and dynamic constraints of the robot system, a nonlinear optimization for high jumping and impact mitigation is proposed with consideration of the peak impact force at landing. Finally, experiments revealed that the robot achieved a jump height of 1.8 m with a robust landing, and the height was equal to approximately three times the leg length.</p> |
Year | DOI | Venue |
|---|---|---|
2021 | 10.3390/s21206885 | SENSORS |
Keywords | DocType | Volume |
legged robot, leg topology, highly dynamic jumping, impact mitigation, nonlinear optimization | Journal | 21 |
Issue | ISSN | Citations |
20 | 1424-8220 | 0 |
PageRank | References | Authors |
0.34 | 0 | 8 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Lei Wang | 1 | 141 | 37.05 |
| Fei Meng | 2 | 113 | 14.50 |
| Ru Kang | 3 | 0 | 0.34 |
| Ryuki Sato | 4 | 2 | 2.76 |
| Xuechao Chen | 5 | 46 | 19.24 |
| Zhangguo Yu | 6 | 0 | 0.68 |
| Aiguo Ming | 7 | 177 | 41.26 |
| Qiang Huang | 8 | 12 | 5.56 |