The use of compliant joints and elastic energy storage in bio-inspired legged robots

被引：74

作者：

Scarfogliero, Umberto ^{[1
]}

Stefanini, Cesare ^{[1
,2
]}

Dario, Paolo ^{[1
,2
]}

机构：

[1] Scuola Super St Anna Pisa, CRIM Lab, I-56025 Pontedera, Italy

[2] Italian Inst Technol, IIT, I-16125 Genoa, Italy

来源：

MECHANISM AND MACHINE THEORY | 2009年 / 44卷 / 03期

关键词：

Legged locomotion; Elasticity; Compliancy; Passive joints; Scale effects on locomotion; MODEL;

D O I：

10.1016/j.mechmachtheory.2008.08.010

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

From an engineering point of view, bio-inspiration can suggest mechanisms, design and functions successfully improving the state of the art in robotics. Engineers can study scaling effects in animal locomotion in order to determine the optimal gait for a given-size robot. In this paper the design of a miniature jumping robot is presented. Inspired by small jumping animals, the robot performs catapult jumps, using an elastic energy storage and a release mechanism. Compliant forelegs are completely passive, and cushion the landing reusing part of the impact energy. The influence of compliance and elastic energy storage on performances is discussed. Spring stiffness and elongation are dimensioned according to design limitations and energy constraints, avoiding early loss of ground contact, i.e. takeoff before complete leg extension. (c) 2008 Elsevier Ltd. All rights reserved.

引用

页码：580 / 590

页数：11

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