Volume 5B: 43rd Mechanisms and Robotics Conference最新文献

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Experimental Study on Folding Patterns and Deployability of Inflatable Structures 充气结构折叠模式及可展开性的实验研究
Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 1900-01-01 DOI: 10.1115/detc2019-98107
Sachiko Ishida, Hakimi Azuri
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引用次数: 0
Eliminating Peak Impact Forces by Customizing the Passive Foot Dynamics of Legged Robots 通过定制有腿机器人的被动足部动力学来消除峰值冲击力
Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 1900-01-01 DOI: 10.1115/detc2019-97484
Jesse J. Rond, Michael C. Cardani, M. Campbell, J. Hurst
{"title":"Eliminating Peak Impact Forces by Customizing the Passive Foot Dynamics of Legged Robots","authors":"Jesse J. Rond, Michael C. Cardani, M. Campbell, J. Hurst","doi":"10.1115/detc2019-97484","DOIUrl":"https://doi.org/10.1115/detc2019-97484","url":null,"abstract":"\u0000 Impact forces are a destructive, yet common occurrence in legged locomotion. Every step produces a collision when the leg’s inertia immediately stops upon ground contact. This results in peak impact forces and high frequency vibrations that resonate through the system, damage components, and complicate control algorithms. Rubber or other damping material is the assumed solution for mitigating these impacts. However, we show the benefit of using foot springs where both stiffness and maximum compression are customized to the leg. Such springs eliminate peak impact forces by gradually bringing the leg’s inertia to rest. The maximum compression point (i.e. a hard stop) then provides a rigid surface during stance. We provide a methodology for designing this passive dynamic foot that is validated through simulation and physical testing. Our results show this methodology reduces rigid body impacts and foot vibrations in a way traditional methods, reliant upon rubber or damping, are yet to achieve.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116829292","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
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