Dynamic modeling for the impact of compliant legged robot

Shusheng Bi; Xiaodong Zhou; Lige Zhang

doi:10.4028/www.scientific.net/AMM.163.238

Dynamic modeling for the impact of compliant legged robot

Shusheng Bi^*
, Xiaodong Zhou
, Lige Zhang

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	History of Mechanical Technology and Mechanical Design 2012
Pages	238-241
Number of pages	4
DOIs	https://doi.org/10.4028/www.scientific.net/AMM.163.238
State	Published - 2012
Event	9th International Conference on History of Mechanical Technology and Mechanical Design, ICHMTMD 2012 - Tainan, Taiwan, Province of China Duration: 23 Mar 2012 → 25 Mar 2012

Publication series

Name	Applied Mechanics and Materials
Volume	163
ISSN (Print)	1660-9336
ISSN (Electronic)	1662-7482

Conference

Conference	9th International Conference on History of Mechanical Technology and Mechanical Design, ICHMTMD 2012
Country/Territory	Taiwan, Province of China
City	Tainan
Period	23/03/12 → 25/03/12

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Compliant element
Dynamic modeling
Energy efficiency
Impact
Running robot

Access to Document

10.4028/www.scientific.net/AMM.163.238

Cite this

@inproceedings{e465813bdc5f4fa185ac3ed6395cee4a,

title = "Dynamic modeling for the impact of compliant legged robot",

abstract = "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.",

keywords = "Compliant element, Dynamic modeling, Energy efficiency, Impact, Running robot",

author = "Shusheng Bi and Xiaodong Zhou and Lige Zhang",

year = "2012",

doi = "10.4028/www.scientific.net/AMM.163.238",

language = "英语",

isbn = "9783037854013",

series = "Applied Mechanics and Materials",

pages = "238--241",

booktitle = "History of Mechanical Technology and Mechanical Design 2012",

note = "9th International Conference on History of Mechanical Technology and Mechanical Design, ICHMTMD 2012 ; Conference date: 23-03-2012 Through 25-03-2012",

}

Bi, S, Zhou, X & Zhang, L 2012, Dynamic modeling for the impact of compliant legged robot. in History of Mechanical Technology and Mechanical Design 2012. Applied Mechanics and Materials, vol. 163, pp. 238-241, 9th International Conference on History of Mechanical Technology and Mechanical Design, ICHMTMD 2012, Tainan, Taiwan, Province of China, 23/03/12. https://doi.org/10.4028/www.scientific.net/AMM.163.238

TY - GEN

T1 - Dynamic modeling for the impact of compliant legged robot

AU - Bi, Shusheng

AU - Zhou, Xiaodong

AU - Zhang, Lige

PY - 2012

Y1 - 2012

N2 - 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.

AB - 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.

KW - Compliant element

KW - Dynamic modeling

KW - Energy efficiency

KW - Impact

KW - Running robot

UR - https://www.scopus.com/pages/publications/84860204963

U2 - 10.4028/www.scientific.net/AMM.163.238

DO - 10.4028/www.scientific.net/AMM.163.238

M3 - 会议稿件

AN - SCOPUS:84860204963

SN - 9783037854013

T3 - Applied Mechanics and Materials

SP - 238

EP - 241

BT - History of Mechanical Technology and Mechanical Design 2012

T2 - 9th International Conference on History of Mechanical Technology and Mechanical Design, ICHMTMD 2012

Y2 - 23 March 2012 through 25 March 2012

ER -

Dynamic modeling for the impact of compliant legged robot

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

Other files and links

Fingerprint

Cite this