Improving Robustness of Legged Robots Against Mechanical Shock Using Impulsive Dynamics

This manuscript presents a method to calculate and analyze mechanical shock of multi-rigid body system, based on the revised concept center percussion newly derived variable called radius percussion. The objective is improve mechanism’s robustness against shocks that are caused by certain impacts, such as those experienced legged robots from landing jump or making step. In practice, it can be used for placement shock-sensitive components in robots, inertial measurement units cameras, controller design improvements optimizations aim reduce parts. Several case studies presented support usefulness theory.