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2016


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On designing an active tail for body-pitch control in legged robots via decoupling of control objectives

Heim, S. W., Ajallooeian, M., Eckert, P., Vespignani, M., Ijspeert, A.

In ASSISTIVE ROBOTICS: Proceedings of the 18th International Conference on CLAWAR 2015, pages: 256-264, 2016 (inproceedings)

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[BibTex]

2016


[BibTex]

2004


Simple and low-cost compliant leg-foot system
Simple and low-cost compliant leg-foot system

Meyer, F., Spröwitz, A., Lungarella, M., Berthouze, L.

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), 1, pages: 515-520, IEEE, Sendai, Japan, 2004 (inproceedings)

Abstract
We present the design of a simple and low- cost humanoid leg-foot system featuring compliant joints and springy feet. The mechanical compliance of the individual joints can be adjusted by means of visco-elastic material, or metal. To explore some of the relevant characteristics of the proposed system, we performed a series of experiments in which the leg was dropped from a fixed height. Combinations of different materials in the joints (silicone rubber, latex, and brass) as well as a rigid or a compliant foot were used. Additional data were obtained through of a Lagrangian analysis of the leg-foot system. Our analyses show that compliant joints not only reduce impactive forces, but also induce smoother joint trajectories. Further, by employing a compliant foot, a higher energy efficiency for the movement is achieved.

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DOI [BibTex]

2004


DOI [BibTex]