Control of hoof rolling in an articulated leg

Lee, W.; Raibert, M.

doi:10.1109/robot.1991.131808

Cited by 19 publications

(13 citation statements)

References 10 publications

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“…Both these 2D and 3D machines used springy telescopic legs. Subsequently, Lee and Raibert 11 explored the use of an articulated leg with a hoof for a one-legged running robot, called the "Monopod" (Fig. 5).…”

Section: Hardware Developmentmentioning

confidence: 99%

Single-legged hopping robotics research—A review

2007

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SUMMARYInspired by the agility of animal and human locomotion, the number of researchers studying and developing legged robots has been increasing at a rapid rate over the last few decades. In comparison to multilegged robots, single-legged robots have only one type of locomotion gait, i.e., hopping, which represents a highly nonlinear dynamical behavior consisting of alternating flight and stance phases. Hopping motion has to be dynamically stabilized and presents challenging control problems. A large fraction of studies on legged robots has focused on modeling and control of single-legged hopping machines. In this paper, we present a comprehensive review of developments in the field of single-legged hopping robots. We have attempted to cover development of prototype models as well as theoretical models of such hopping systems.

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Section: Hardware Developmentmentioning

confidence: 99%

Single-legged hopping robotics research—A review

2007

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“…Methods using the leg-end-supporting moment (LSM) and tumble stability margin (TSM) [13,[16][17][18][19], among others, directly consider the resultant moment around each support boundary. The robot will be stable if the resultant moments can counteract the torque which makes the robot tumble.…”

Section: Introductionmentioning

confidence: 99%

Stability Criterion for Dynamic Gaits of Quadruped Robot

et al. 2018

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Dynamic-stability criteria are crucial for robot’s motion planning and balance recovery. Nevertheless, few studies focus on the motion stability of quadruped robots with dynamic gait, none of which have accurately evaluated the robots’ stability. To fill the gaps in this field, this paper presents a new stability criterion for the motion of quadruped robots with dynamic gaits running over irregular terrain. The traditional zero-moment point (ZMP) is improved to analyze the motion on irregular terrain precisely for dynamic gaits. A dynamic-stability criterion and measurement are proposed to determine the stability state of the robot and to evaluate its stability. The simulation results show the limitations of the existing stability criteria for dynamic gaits and indicate that the criterion proposed in this paper can accurately and efficiently evaluate the stability of a quadruped robot using such gaits.

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“…19 Using spring that imitates animal's tendon and foot pad, legged robot is capable of saving energy and reducing the impact of foot with the ground. 20,21 The bow-shaped legged robot with a tapered curved leaf spring demonstrates high efficiency of hopping indoors. 22 Taking the advantage of deformation of a circular soft body made of spring shell, the robot could convert potential energy efficiently into gravitational energy during jumping.…”

Section: Introductionmentioning

confidence: 99%

Autonomous jumping robot with regulable trajectory and flexible feet

Chai

Yang

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, a prototype of jumping robot with flexible feet is proposed to surmount obstacle efficiently. A six-bar adjustable mechanism for regulating jumping height and distance as well as a self-righting mechanism for uprighting after falling down are presented. The jumping height, jumping distance and energy conversion efficiency (ECE) are analyzed and tested, respectively, through dynamics modeling and jumping experiments. Taking advantage of flexible feet whose parameters are optimally designed, both the ground impulse acting on the robot and external kinetic energy relating to the movement of robot's center of mass increase, so the performance of jumping height and distance as well as ECE of the robot with flexible feet is better than that of the one without flexible feet. By reducing leg mass and take-off angle as well as increasing stored energy, the external kinetic energy is enlarged, and ECE of the robot with flexible feet could be further improved. Meanwhile, simulation results show that the existing jumping robots which adopt four-or six-bar jumping mechanism are capable of enhancing jumping height and distance as well as ECE by exploiting flexible feet.

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Control of hoof rolling in an articulated leg

Cited by 19 publications

References 10 publications

Single-legged hopping robotics research—A review

Single-legged hopping robotics research—A review

Stability Criterion for Dynamic Gaits of Quadruped Robot

Autonomous jumping robot with regulable trajectory and flexible feet

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