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Design study of three segment leg with stable region at low and high speed running

Title
Design study of three segment leg with stable region at low and high speed running
Authors
Kwon, Oh-SeokLee, Dong-Ha
DGIST Authors
Kwon, Oh-Seok; Lee, Dong-Ha
Issue Date
2011
Citation
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011, 850-854
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
Abstract
In previous researches [2, 3], the self-stability was studied for the spring-mass model and the two segment leg model. In these researches, it was presented that the spring-mass model has the self-stable region at relatively high speed running and the two segment leg model has the self-stable region at relatively low speed running. If the model was run in the self-stable region, the cost of transport [1] is zero ideally. That is, actually, only the energy loss is needed to compensate for running. This means that the energy efficiency is high, running in the self-stable region. We want to have high energy efficiency at low and high speed running. So, in this paper, we propose the design direction of the three segment leg having the self-stable region at low and high speed running. And we verify the self-stable region of the three segment leg designed by the proposed design direction. © 2011 IEEE.
URI
http://hdl.handle.net/20.500.11750/5541
DOI
10.1109/URAI.2011.6146041
Publisher
Institute of Electrical and Electronics Engineers Inc.
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 Wellness2. Conference Papers


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