2010
IMAACA 2010 Proceeding
Simulation and experimental studies on walking robot with flexible legs
Authors: V. L. Krishnan, P. M. Pathak, Lokesh Sardana, S. C. Jain
Abstract
Passive motions caused by the elasticity of the muscles, tendons, and bones help animals in swimming, flying, breathing, running etc. This passive motion can be realized in artificial legged robots by using compliant elements viz. springs etc. Appropriate use of such elements can lead to power autonomous legged robots. Several attempts in exploiting compliance in legged robots are ongoing. Yet the scientific community is far from developing commercially viable flexible legged robots. In this work, simulation and experimental studies of sagittal plane dynamics of a flexible legged quadruped has been carried out. Bond graph is used as a tool for modeling and simulation of robot dynamics. Experimental studies have been carried out to explore the underlying principles and potential challenges in the locomotion of robots with flexible legs.
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