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Design of a robot leg with elastic energy storage, comparison to biology, and preliminary experimental results | IEEE Conference Publication | IEEE Xplore

Design of a robot leg with elastic energy storage, comparison to biology, and preliminary experimental results


Abstract:

This paper presents a novel robot leg design. The leg is powered by a DC motor which drives elastic tendons to turn a foot. The tendons store elastic energy just as in na...Show More

Abstract:

This paper presents a novel robot leg design. The leg is powered by a DC motor which drives elastic tendons to turn a foot. The tendons store elastic energy just as in nature. Preliminary experimental results show the leg has a well-defined resonance which can be exploited to produce hopping. We also offer a comparison of our leg with the cat hindlimb. Eventually, the leg will be part of a quadrupedal robot.
Date of Conference: 22-28 April 1996
Date Added to IEEE Xplore: 06 August 2002
Print ISBN:0-7803-2988-0
Print ISSN: 1050-4729
Conference Location: Minneapolis, MN, USA

References

References is not available for this document.