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Energy saving passive-dynamic gait for a one-legged hopping robot

Published online by Cambridge University Press:  23 January 2006

Nicholas Cherouvim  and
Evangelos Papadopoulos
Nicholas Cherouvim
Affiliation:
Department of Mechanical Engineering, National Technical University of Athens, 15780 Athens (Greece)
Evangelos Papadopoulos
Affiliation:
Department of Mechanical Engineering, National Technical University of Athens, 15780 Athens (Greece)
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Abstract

Increasing the energy autonomy of a hopping one-legged robot is studied in this paper. For a particular passive gait, of all those possible, the energy dissipated per unit length of travel is shown to be less than for any other gait. This optimal gait is identified analytically, by exploiting the commonly used SLIP model to simplify real robot dynamics. Both mechanical and electrical losses are considered. The accuracy of the optimal gait analytical prediction is evaluated by a numerical analysis of a realistic robot model. Finally, restrictions imposed on executing the optimal gait due to motor limitations are studied.

Keywords

Hopping robotSLIP modelPassive hopping
Type
Article
Information
Robotica , Volume 24 , Issue 4 , July 2006 , pp. 491 - 498
Copyright
2006 Cambridge University Press

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