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

页码：4645 / 4650

页数：6

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