On increasing energy autonomy for a one-legged hopping robot

被引：11
|
作者：
Papadopoulos, E [1 ]
Cherouvim, N [1 ]
机构：
[1] Natl Tech Univ Athens, Dept Mech Engn, Athens 15780, Greece
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词：
Hopping robot; SLIP model; passive hopping;
D O I：
10.1109/ROBOT.2004.1302450
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper it is shown that, for a one-legged robot, there exists a particular passive gait, of all those possible, for which the dissipated energy per meter of travel is minimized. An analytical method is used to identify the optimal gait. A SLIP model of the robot is used to simplify the dynamics. Both mechanical and electrical losses are taken into account. A numerical analysis of a complete robot model follows, to evaluate the accuracy of the analytical prediction. Finally, the limitations imposed by a torque limited motor, with regard to the optimal gait, are studied.
引用
收藏
页码：4645 / 4650
页数：6
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