scholarly journals CONCURRENT OPTIMIZATION OF MECHANICAL DESIGN AND LOCOMOTION CONTROL OF A LEGGED ROBOT

2014 ◽  
Author(s):  
K. M. DIGUMARTI ◽  
C. GEHRING ◽  
S. COROS ◽  
J. HWANGBO ◽  
R. SIEGWART
Keyword(s):  
Mechanical Design ◽  
Legged Robot ◽  
Locomotion Control ◽  
Concurrent Optimization

Cat-inspired mechanical design of self-adaptive toes for a legged robot

2016 ◽  
Author(s):  
Huaxin Liu ◽  
Qiang Huang ◽  
Weimin Zhang ◽  
Xuechao Chen ◽  
Zhangguo Yu ◽  
...  
Keyword(s):  
Mechanical Design ◽  
Legged Robot ◽  
Self Adaptive

scholarly journals Insect–computer hybrid legged robot with user-adjustable speed, step length and walking gait

2016 ◽  
Vol 13 (116) ◽  
pp. 20160060 ◽  
Author(s):  
Feng Cao ◽  
Chao Zhang ◽  
Hao Yu Choo ◽  
Hirotaka Sato
Keyword(s):  
Walking Speed ◽  
Step Length ◽  
Legged Robot ◽  
Step Frequency ◽  
Locomotion Control ◽  
Insect Locomotion ◽  
Implanted Electrodes ◽  
Walking Gait ◽  
Leg Muscles ◽  
Adjustable Speed

We have constructed an insect–computer hybrid legged robot using a living beetle ( Mecynorrhina torquata ; Coleoptera). The protraction/retraction and levation/depression motions in both forelegs of the beetle were elicited by electrically stimulating eight corresponding leg muscles via eight pairs of implanted electrodes. To perform a defined walking gait (e.g. gallop), different muscles were individually stimulated in a predefined sequence using a microcontroller. Different walking gaits were performed by reordering the applied stimulation signals (i.e. applying different sequences). By varying the duration of the stimulation sequences, we successfully controlled the step frequency and hence the beetle's walking speed. To the best of our knowledge, this paper presents the first demonstration of living insect locomotion control with a user-adjustable walking gait, step length and walking speed.

Dynamic Modeling for the Impact of Compliant Legged Robot

2012 ◽  
Vol 163 ◽  
pp. 238-241
Author(s):  
Shu Sheng Bi ◽  
Xiao Dong Zhou ◽  
Li Ge Zhang
Keyword(s):  
Energy Efficiency ◽  
Mechanical Design ◽  
Efficiency Analysis ◽  
Legged Robots ◽  
Dynamics Analysis ◽  
Legged Robot ◽  
Analysis Software ◽  
Parameter Variations ◽  
The Impact ◽  
Energy Efficiency Analysis

Compliant elements play an important role in running and hopping legged robots for improving their speed and energy efficiency. The dynamic model of the compliant legged robot was developed by taking into account the slipping, vibration and distributed compliance of the legs. The parameter variations of the system after impacts were researched for different dropping height and angles by numerical method. Meanwhile, the effectiveness of the model was verified through explicit dynamics analysis software. All these results will provide a theoretical guide for the energy efficiency analysis and mechanical design of the compliant legged robots.

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