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A DYNAMIC MODEL OF RUNNING WITH A HALF-CIRCULAR COMPLIANT LEG
Date
2012-07-01
Author
Ankaralı, Mustafa Mert
Yazıcıoğlu, Yiğit
Saranlı, Afşar
Saranlı, Uluç
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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.
Subject Keywords
RHex
,
Half-Circular Compliant Leg
,
Castigliano’s Theorem
URI
https://www.worldscientific.com/worldscibooks/10.1142/8546
https://hdl.handle.net/11511/79180
https://doi.org/10.1142/9789814415958_0055
Relation
Adaptive Mobile Robotics
Collections
Department of Electrical and Electronics Engineering, Book / Book chapter
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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....
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M. M. Ankaralı, Y. Yazıcıoğlu, A. Saranlı, and U. Saranlı,
A DYNAMIC MODEL OF RUNNING WITH A HALF-CIRCULAR COMPLIANT LEG
. 2012, p. 432.
