DocumentCode
1842319
Title
Design of a robot leg with elastic energy storage, comparison to biology, and preliminary experimental results
Author
Berkemeier, Matthew D. ; Desai, Kamal V.
Author_Institution
Dept. of Aerosp. & Mech. Eng., Boston Univ., MA, USA
Volume
1
fYear
1996
fDate
22-28 Apr 1996
Firstpage
213
Abstract
This paper presents a novel robot leg design. The leg is powered by a DC motor which drives elastic tendons to turn a foot. The tendons store elastic energy just as in nature. Preliminary experimental results show the leg has a well-defined resonance which can be exploited to produce hopping. We also offer a comparison of our leg with the cat hindlimb. Eventually, the leg will be part of a quadrupedal robot
Keywords
DC motors; legged locomotion; mechanical energy storage; motion control; resonance; DC motor; elastic energy storage; elastic tendons; hopping; quadrupedal robot; resonance; robot leg; Animals; Biological system modeling; Energy storage; Foot; Leg; Legged locomotion; Mobile robots; Resonance; Springs; Tendons;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.503597
Filename
503597
Link To Document