Simulation of new leg Concepts for a Passively Compliant Hexapod robot
نویسندگان
چکیده
For many years, robotics has drawn inspiration from nature, but only recently has an understanding of the musculoskeletal dynamics of an animal running led to successful designs of small, selfstabilizing legged robots. Motivated by the question of how robots can take advantage of passive elastic elements, this work explores if considerable mechanical compliance contributes significantly to the stability and the robustness of multi-legged robotic running. For this purpose, three passive elastic leg concepts with increasing complexity have been developed and tested using a MAtlAB® SIMPACK co-simulation.
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