Performance Comparison of a Planar Bipedal Robot with Rigid and Compliant Legs


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Jafarian, Matin and Oort, Gijs van and Carloni, Raffaella and Stramigioli, Stefano (2011) Performance Comparison of a Planar Bipedal Robot with Rigid and Compliant Legs. In: 18th IFAC World Congress 2011, 28 August - 2 September 2011, Milan, Italy.

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Abstract:The purpose of this work is to study the effect of placing passive storage elements (springs) along the robot legs on its performance. We first present the model of a planar passive dynamic walker with compliant ground contact model, then replace its rigid legs with compliant legs. Simulation results validate the effectiveness of compliant legs in improving the performance (robustness and velocity) of the robot.
Item Type:Conference or Workshop Item
Copyright:© 2007 International Federation of Automatic Control
Faculty:
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/77998
Official URL:http://dx.doi.org/10.3182/20110828-6-IT-1002.01183
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