Study on Elastic Elements Allocation for Energy-Efficient Robotic Cheetah Leg
Ivan I. Borisov, Ivan A. Kulagin, Anastasiya E. Larkina, Artem A. Egorov, Sergey A. Kolyubin, Stefano Stramigioli
Abstract
The biomimetic approach in robotics is promising: nature has found many good solutions through millions of years of evolution. However, creating a design that enables fast and energy-efficient locomotion remains a major challenge. This paper focuses on the development of a full leg mechanism for a fast and energy-efficient 4-legged robot inspired by a cheetah morphology. In particular, we analyze how the allocation of flexible elements and their stiffness affects the cost of transport and peak power characteristics for vertical jumps and a galloping motion. The study includes the femur and full leg mechanism's locomotory behavior simulation, capturing its interaction with the ground.
BibTeX
@inproceedings{iros2019_studyonelasticel,
title = {Study on Elastic Elements Allocation for Energy-Efficient Robotic Cheetah Leg},
author = {Ivan I. Borisov and Ivan A. Kulagin and Anastasiya E. Larkina and Artem A. Egorov and Sergey A. Kolyubin and Stefano Stramigioli},
booktitle = {IROS 2019},
year = {2019}
}