Dynamic Balance of the Head in a Flexible Legged Robot for Efficient Biped Locomotion

In the biped robotics domain, head oscillations may be extremely harmful, especially if robot is teleoperated, since vibrations strongly reduce operator’s spatial awareness. particular, undesired occur in under-actuated robots, where springs and passive mechanisms are used to achieve a human-like motion. This paper proposes an approach of robot’s head; proposed solution does not affect dynamic locomotion properties, on which specific control logic could have been already tuned. The tested Rollo, flexible-biped-wheeled robot, whose vibrates throughout locomotion. two requirements, i.e., vibration reduction unchanged Rollo traduced constraints possible modifications. Based 1D finite element model tuned experimental modal analysis, causes detected, for their proposed. Rollo’s amplitude attenuated using absorber, achieves impressive performance robot. An archetype absorber tailored designed without invasive changes structure. solves significant problem robotic research community. utilized other machines with or flexible legs.