A DYNAMIC MODEL OF RUNNING WITH A HALF-CIRCULAR COMPLIANT LEG

2012-07-01
Substantial research on legged robotics focuses on the design and morphology of leg structures. In this context, the advantages of passive compliance for reliability and simplicity have long been recognized. For example, composite leg designs with a half-circular profile used on later versions of the RHex hexapod were found to support a rich set of dynamic behaviors. However, the complex geometry and compliance properties of these legs have been difficult to model, preventing the use of dynamic simulations. In this paper, we present a simple dynamic model for this leg design for a planar monopod, taking into account both the kinematics of rolling contact and the nonlinear compliance of the geometry. We show through simulations that realistic predictions for system trajectories can be generated and leave experimental validation of this model for future work.

Suggestions

A DYNAMIC MODEL OF RUNNING WITH A HALF-CIRCULAR COMPLIANT LEG
Ankarali, MUSTAFA MERT; SAYGINER, E.; Yazıcıoğlu, Yiğit; Saranlı, Afşar; Saranlı, Uluç (2012-07-26)
Substantial research on legged robotics focuses on the design and morphology of leg structures. In this context, the advantages of passive compliance for reliability and simplicity have long been recognized. For example, composite leg designs with a half-circular profile used on later versions of the RHex hexapod were found to support a rich set of dynamic behaviors. However, the complex geometry and compliance properties of these legs have been difficult to model, preventing the use of dynamics imulations....
Novel Therapeutic Strategies for Tissue Engineering of Bone and Cartilage Using Second Generation Biomimetic Scaffolds (EXPERTISSUES)
Hasırcı, Vasıf Nejat(2010-7-31)
The main aim of the proposed network of excellence (Noël) is to combat and overcome fragmentation of European Research on the field of Tissue Engineering of Bone and Cartilage. The network will bring together Europe's leading academic centres and several complementary industrial players in a multi-disciplinary consortium to conduct and structure research that is able to compete in the internationally arena, namely with USA and Japan. The constitution of this network of excellence will lead to a complete res...
Novel Therapeutic Strategies for Tissue Engineering of Bone and Cartilage Using Second Generation Biomimetic Scaffolds (EXPERTISSUES)
Atımtay, Aysel(2010-7-31)
The main aim of the proposed network of excellence (Noël) is to combat and overcome fragmentation of European Research on the field of Tissue Engineering of Bone and Cartilage. The network will bring together Europe's leading academic centres and several complementary industrial players in a multi-disciplinary consortium to conduct and structure research that is able to compete in the internationally arena, namely with USA and Japan. The constitution of this network of excellence will lead to a complete res...
Novel Therapeutic Strategies for Tissue Engineering of Bone and Cartilage Using Second Generation Biomimetic Scaffolds (EXPERTISSUES)
Hasırcı, Vasıf Nejat(2010-7-31)
The main aim of the proposed network of excellence (Noël) is to combat and overcome fragmentation of European Research on the field of Tissue Engineering of Bone and Cartilage. The network will bring together Europe's leading academic centres and several complementary industrial players in a multi-disciplinary consortium to conduct and structure research that is able to compete in the internationally arena, namely with USA and Japan. The constitution of this network of excellence will lead to a complete res...
A survey on piecewise-linear models of regulatory dynamical systems
Öktem, Hüseyin Avni (Elsevier BV, 2005-11-01)
Recent developments in understanding the various regulatory systems, especially the developments in biology and genomics, stimulated an interest in modelling such systems. Hybrid systems, originally developed for process control applications, provide advances in modelling such systems. A particular class of hybrid systems which are relatively simpler to analyze mathematically but still capable of demonstrating the essential features of many non-linear dynamical systems is piecewise-linear systems. Implement...
Citation Formats
M. M. Ankaralı, Y. Yazıcıoğlu, A. Saranlı, and U. Saranlı, A DYNAMIC MODEL OF RUNNING WITH A HALF-CIRCULAR COMPLIANT LEG. 2012, p. 432.