The Effect of Leg Segmental Proportions on the Energetic Cost of Robotic Locomotion
نویسندگان
چکیده
In this paper the influence of knee joint on the motion of the robot and the effect of leg segmental proportions and angle between leg segments on the performance of the robot is explored via parametric analysis. The spring loaded inverted pendulum (SLIP) running in the sagittal plane, which is a simple model commonly used to analyze the basic qualitative properties of running, is used. The performance index is the cost of locomotion, which is given as the actuator power to sustain a certain motion, very close to a passive one, normalized to forward velocity per body length and robot weight. Simulation results show that the effect of leg configuration is great and that considerable variations exist on the value of the energetic cost of locomotion that makes some leg configurations more desirable than others.
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