Cited 1 time in webofscience Cited 2 time in scopus

Locomotion Control of a Compliant Legged Robot from Slow Walking to Fast Running Regular Paper

Title
Locomotion Control of a Compliant Legged Robot from Slow Walking to Fast Running Regular Paper
Authors
Kwon, Oh-SeokChoi, RockHyunLee, Dong-Ha
DGIST Authors
Kwon, Oh-Seok; Lee, Dong-Ha
Issue Date
2012-12
Citation
International Journal of Advanced Robotic Systems, 9
Type
Article
Article Type
Article
Keywords
Compliant Legged RobotCost of TransportCostsEfficiency MeasureEnergy EfficiencyEnergy EfficientLeg LengthLegged RobotsLocomotion ControlMechanical Cost of TransportRobotsRunning SpeedSelf-StabilitySpring-Mass Model
ISSN
1729-8806
Abstract
In this paper, we propose a locomotion control method for a compliant legged robot from slow walking to fast running. We also examine the energy efficiency of the compliant legged robot controlled by the proposed locomotion control method. Experimentally, we obtain the robot running speed of about 4.3m/s with the initial compliant leg length of 0.1m. In addition, we obtain very good energy efficiency. In the best case, the mechanical cost of transport(Cmt), known as an energy efficiency measure, is obtained at about 0.2. Comparing with the other energy efficient robots, our robot exhibits very good energy efficiency. © 2012 Kim et al.; licensee InTech.
URI
http://hdl.handle.net/20.500.11750/5339
DOI
10.5772/54469
Publisher
INTECH -OPEN ACCESS PUBLISHER
Related Researcher
  • Author Kwon, Oh Seok  
  • Research Interests mechanical system modeling, control, robotics, biomechanics
Files:
There are no files associated with this item.
Collection:
Convergence Research Center for Wellness1. Journal Articles


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