MODELING HALF-CIRCULAR COMPLIANT LEG BY USING SIMMECHANICS

Date

2012-07-26

Author

Ogucu, M. O.
Saranlı, Afşar
Yazıcıoğlu, Yiğit

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Despite the well-understood effects and benefits, half-circular compliant legs are difficult in terms of modeling and analyzing. In many studies, simplified models have been used, which have a number of assumptions and whose validity need to be verified either against the actual physical system or against a more accurate simulation model. Leaving the experimental validation issues to the future works, the aim of this study is to come up with a more accurate simulation model of the half-circular compliant leg with the minimum number of assumptions, approximations and simplifications. For this purpose, Simulink/SimMechanics modeling and simulation environment is considered. We believe that our simulation model to be a better approximation of the system behavior because, it allows for a more general leg shape during locomotion. Also, slippage conditions can be carried out. The simulation is more general overall, allowing a distributed leg mass, non-planar leg behavior as well as allowing wider contact area with the surface.

Subject Keywords

RHex, Half-circular compliant leg, Sim mechanics

URI

https://hdl.handle.net/11511/52527

DOI

https://doi.org/10.1142/9789814415958_0032

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

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Citation Formats

M. O. Ogucu, A. Saranlı, and Y. Yazıcıoğlu, “MODELING HALF-CIRCULAR COMPLIANT LEG BY USING SIMMECHANICS,” 2012, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/52527.