Compliance in legged robotics has recently become favored over rigid leg members. The energy cost associated with rigid legged walking is high, and speeds are typically decreased with terrain changes. The use of compliant legs can provide stable walking while enabling higher maximum speeds.
Inspired by biological principals in insectoid locomotion, a physical model for energy efficient limb design was explored. A compliant leg structure was designed and replaced the rigid leg members of an insectoid robot. Velocity and ground reaction force data was gathered for both rigid and compliant lower leg members at various stiffness values for ideal and complex terrain.
Furthermore, a command was designed to maximize walking speeds. Design parameters of stiffness, command duration, and command spacing are selected. The designed command, combining the optimal value of the design parameters, produced an increased stance departure velocity value and can be implemented in insectoid robots with compliant legs.
|Advisor:||Vaughan, Joshua E.|
|Commitee:||Felgenhauer, Bruce E., Taylor, Charles E.|
|School:||University of Louisiana at Lafayette|
|School Location:||United States -- Louisiana|
|Source:||MAI 56/02M(E), Masters Abstracts International|
|Subjects:||Mechanical engineering, Robotics|
|Keywords:||Biomimicry, Command generation, Compliance, Input shaping, Insectoid robot|
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