Experimental Investigations into the Role of Passive Variable Compliant Legs for Dynamic Robot Locomotion
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Biomechanical studies suggest that animals’ abilities to tune their effective leg compliance in response to changing terrain conditions plays an important role in their agile, robust locomotion. However, despite growing interest in leg compliance within the robotics literature, little experimental work has been reported on tunable passive leg compliance in running machines. In this paper we present an empirical study into the role of leg compliance using a composite tunable leg design implemented on our dynamic hexapod, EduBot, with gaits optimized for running speed using a range of leg stiffnesses, on two different surface stiffnesses, and with two different payload configurations (0 kg and 0.91 kg). We found that leg stiffness, surface compliance, and payload had a significant impact on the robot’s final optimized speed and efficiency. These results document the value and efficacy of what we believe is the first autonomous dynamic legged robot capable of runtime leg stiffness adjustment. For more information: Kod*Lab
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BibTeX entry @INPROCEEDINGS{5979941, author={Galloway, K.C. and Clark, J.E. and Yim, M. and Koditschek, D.E.}, booktitle={Robotics and Automation (ICRA), 2011 IEEE International Conference on}, title={Experimental investigations into the role of passive variable compliant legs for dynamic robotic locomotion}, year={2011}, month={may}, volume={}, number={}, pages={1243 -1249},doi={10.1109/ICRA.2011.5979941}, ISSN={1050-4729}, } The authors would like to thank Dr. Haldun Komsuoglu for his design of the EduBot platform as well as Dr. Galen Clark Haynes, Aaron Johnson, and Berkay Deniz Ilhan for their contribution towards EduBot’s software and electrical development. This work was also supported by the NSF FIBR grant #0425878. Copyright 2011 IEEE. Reprinted from Robotics and Automation (ICRA), 2011 International Conference, pages 1243-1249. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.