ICRA 2011 Paper Abstract


Paper TuP102.4

Galloway, Kevin (Wyss Institute), Clark, Jonathan (Florida State University), Yim, Mark (University of Pennsylvania), Koditschek, Daniel (University of Pennsylvania)

Experimental Investigations into the Role of Passive Variable Compliant Legs for Dynamic Robotic Locomotion

Scheduled for presentation during the Regular Sessions "Multi-legged Robots" (TuP102), Tuesday, May 10, 2011, 14:25−14:40, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Biologically-Inspired Robots, Compliance and Impedance Control, Compliant Joint/Mechanism


Biomechanical studies suggest that animalsí abilities to tune their effective leg compliance in response to changing terrain conditions plays an important role in their agile, robust locomotion. However, despite growing interest in leg compliance within the robotics literature, little experimental work has been reported on tunable passive leg compliance in running machines. In this paper we present an empirical study into the role of leg compliance using a composite tunable leg design implemented on our dynamic hexapod, EduBot, with gaits optimized for running speed using a range of leg stiffnesses, on two different surface stiffnesses, and with two different payload configurations (0 kg and 0.91 kg). We found that leg stiffness, surface compliance, and payload had a significant impact on the robotís final optimized speed and efficiency. These results document the value and efficacy of what we believe is the first autonomous dynamic legged robot capable of runtime leg stiffness adjustment.



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