TY - GEN
T1 - Biologically inspired robotic leg for high-speed running
AU - Lee, Yoon Haeng
AU - Phan, Luong Tin
AU - Kim, Dong Youn
AU - Lee, Hyunyong
AU - Koo, Ja Choon
AU - Choi, Hyouk Ryeol
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/26
Y1 - 2016/9/26
N2 - Low speed and low energy efficiency are intrinsic issues to be tackled in the study of legged robots. To cope with these problems, this paper presents a bio-inspired design methodology and its implementation on the compliant robotic leg. The proposed robotic leg achieves excellent performances for the high-speed running with low inertia, high energy reusability and large workspace. Moreover, its joint design has great benefits of large passive deflection angle, and linear stiffness. According to our study, the error between the calculated and the measured stiffness curve of the unidirectional compliant joint mechanism is less than 2% and the joint stiffness can be handled as a constant number. To validate the idea, we demonstrate the robotic leg periodically jumps in the vertical direction, and stores the 18 % of its initial potential energy.
AB - Low speed and low energy efficiency are intrinsic issues to be tackled in the study of legged robots. To cope with these problems, this paper presents a bio-inspired design methodology and its implementation on the compliant robotic leg. The proposed robotic leg achieves excellent performances for the high-speed running with low inertia, high energy reusability and large workspace. Moreover, its joint design has great benefits of large passive deflection angle, and linear stiffness. According to our study, the error between the calculated and the measured stiffness curve of the unidirectional compliant joint mechanism is less than 2% and the joint stiffness can be handled as a constant number. To validate the idea, we demonstrate the robotic leg periodically jumps in the vertical direction, and stores the 18 % of its initial potential energy.
UR - https://www.scopus.com/pages/publications/84992349055
U2 - 10.1109/AIM.2016.7576895
DO - 10.1109/AIM.2016.7576895
M3 - Conference contribution
AN - SCOPUS:84992349055
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 970
EP - 975
BT - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Y2 - 12 July 2016 through 15 July 2016
ER -