Locomotion patterns of an electrically actuated robot with articulated leg

Locomotion patterns and a procedure for setting objective parameters for a mechanical prototype of kinematicaly unstable robot with one articulated leg is presented, The prototype, constructed at the Department of Mechanical Engineering, University of Brussels (Vrije Universiteit Brussel), weights 11.7 kg and consists of an upper body of 0.6 m and upper and lower leg of 0,3 m. Designed locomotion patterns allow robot's energy efficient locomotion on irregular terrain using torque and power limited electric actuators, as well as tuned passive actuation. The patterns are based on a close examination of the machine's passive dynamic behaviour considering system's non-linear dynamics characteristics as well as unilateral and nonholonomic constraints imposed on the prototype during locomotion.