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Effects of torsional stiffness and preload on a hopping robot with two-segment legs

Title
Effects of torsional stiffness and preload on a hopping robot with two-segment legs
Authors
Shin, Dong HwanAn, Jin Ung
DGIST Authors
Shin, Dong HwanAn, Jin Ung
Issue Date
2012
Citation
2011 2nd International Conference on Applied Mechanics and Mechanical Engineering, ICAMME 2011, 138-139, 153-158
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
ISSN
1660-9336
Abstract
In this study, we present the effects of design parameters on the performance of a hopping robot. In particular, we focus on the effects of torsional stiffness and preload on a hopping model with two-segment legs having passive knee joints with torsional stiffness. One of the objectives for a field robot is the ability to travel quickly with energy efficiency [1]. Therefore, it is important to determine what range of each design variable is proper to realize not only the high forward speed for great mobility, but also the low torque consumption for energy efficiency. Accordingly, we describe both the analogy simulation of a hopping gait with two-segment legs and the results of this simulation.
URI
http://hdl.handle.net/20.500.11750/1792
DOI
10.4028/www.scientific.net/AMM.138-139.153
Publisher
Trans Tech Publications Ltd
Related Researcher
Files:
There are no files associated with this item.
Collection:
ETC2. Conference Papers
Division of IoT∙Robotics Convergence Research2. Conference Papers


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