Mechanical Shock Propagation Reduction in Robot Legs

Bajwa Roodra Pratap Singh; Roy Featherstone

RA-L 202010 citations

Mechanical Shock Propagation Reduction in Robot Legs

Bajwa Roodra Pratap Singh, Roy Featherstone

Abstract

This letter shows how the mass distribution in a robot's leg affects the propagation of mechanical shocks from the foot to the torso. An example is given of a leg design that propagates no shock at all; and a formula is given for the propagation of shock in a general robot leg, modelled as a chain of rigid bodies, assuming that the foot makes a point or small-area contact when it strikes the ground.

BibTeX

@inproceedings{ral2020_mechanicalshockp,
  title = {Mechanical Shock Propagation Reduction in Robot Legs},
  author = {Bajwa Roodra Pratap Singh and Roy Featherstone},
  booktitle = {RA-L 2020},
  year = {2020}
}