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

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 runn...

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Bibliographic Details
Published inApplied sciences Vol. 10; no. 4; p. 1365
Main Authors Cho, Jungsoo, Kong, Kyoungchul
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.02.2020
Subjects
Actuators
Case studies
Compliance
contact inertia
Durability
Experiments
Gravity
impact
Impact loads
impulse
Leg
legged robot
mechanical structure
Mitigation
Robots
Running
Velocity
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Summary: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.
ISSN:2076-3417
2076-3417
DOI:10.3390/app10041365