Toward efficient, fast, and versatile running robots based on free vibration
نویسندگان
چکیده
Despite the impressive demonstrations of energy efficient legged robots in the past, there are still a number of challenges remained to compete with legged locomotion of biological systems. In order to optimize energy efficiency of a legged robot, we typically need to sacrifice versatility: our robots have usually limited locomotion speed, lack of behavioral diversity, complex mechanical designs, and limited scalability in terms of weights and sizes [1, 2, 3]. From this perspective, we have been exploring an alternative design strategy of hopping/running robots that are not only simple and efficient, but also capable of exhibiting variations of locomotion behaviors.
منابع مشابه
Analytical Investigation of Tire-Road Contact Characteristics for Wheelchair Robots Safely Running
To effectively improve the tire grounding behaviors of wheelchair robots, an analytical method is proposed to analyze and optimize the tire grounding safety. Firstly, taking the cushion and tires as the vibration isolation elements with stiffness and damping, the vertical vibration model of the human-wheelchair robot is established. Then, taking the random excitation as the typical input, the f...
متن کاملFree Vibration Analysis of 2D Functionally Graded Annular Plate considering the Effect of Material Composition via 2D Differential Quadrature Method
This study investigates the free vibration of the Two-Dimensional Functionally Graded Annular Plates (2D-FGAP). The theoretical formulations are based on the three-dimensional elasticity theory with small strain assumption. The Two-Dimensional Generalized Differential Quadrature Method (2D-GDQM) as an efficient and accurate semi-analytical approach is used to discretize the equations of motion ...
متن کاملExact analytical approach for free longitudinal vibration of nanorods based on nonlocal elasticity theory from wave standpoint
In this paper, free longitudinal vibration of nanorods is investigated from the wave viewpoint. The Eringen’s nonlocal elasticity theory is used for nanorods modelling. Wave propagation in a medium has a similar formulation as vibrations and thus, it can be used to describe the vibration behavior. Boundaries reflect the propagating waves after incident. Firstly, the governing quation of nanoro...
متن کاملCompliant Limb Running to Support Future UGVs
Whilst the energy efficiency of wheeled vehicles is fast improving, negotiating rough terrain still presents a significant problem. The alternative of using legged walking and running may provide a more versatile and possibly more efficient solution. Despite muscles only converting approximately 20% of chemical energy into mechanical work, animals achieve very efficient running gaits through st...
متن کاملOn the Analysis of FGM Beams: FEM with Innovative Element
This paper aims at presenting a new efficient element for free vibration and instability analysis of Axially Functionally Graded Materials (FGMs) non-prismatic beams using Finite Element Method (FEM). Using concept of Basic Displacement Functions (BDFs), two- node element extends to three-node element for obtaining much more exact results using FEM. First, BDFs are introduced and computed usin...
متن کامل