Impact analysis as a design tool for the legs of mobile robots

被引：0

作者：

Schmiedeler, JP ^{[1
]}

Waldron, KJ ^{[1
]}

机构：

[1] Ohio State Univ, Dept Mech Engn, Columbus, OH 43210 USA

来源：

ADVANCES IN ROBOT KINEMATICS | 2000年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates the kinetic energy lost in a perfectly plastic collision of a robot with a stationary environment. The analysis is applied in particular to the design of legs for mobile robots that will result in minimal energy loss when impacting the terrain. The generalized inertia ellipsoid is presented as a visualization tool for comparing different leg configurations and different designs. Finally, these techniques are applied to a simplified example of an articulated leg.

引用

页码：129 / 136

页数：8

共 11 条

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