Energy saving passive-dynamic gait for a one-legged hopping robot

Cherouvim, N; Papadopoulos, E

dc.contributor.author	Cherouvim, N	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:24:18Z
dc.date.available	2014-03-01T01:24:18Z
dc.date.issued	2006	en
dc.identifier.issn	0263-5747	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/17207
dc.subject	Hopping robot	en
dc.subject	Passive hopping	en
dc.subject	Slip model	en
dc.subject.classification	Robotics	en
dc.subject.other	Gait analysis	en
dc.subject.other	Mechanical properties	en
dc.subject.other	Numerical analysis	en
dc.subject.other	Optimal systems	en
dc.subject.other	Hopping robot	en
dc.subject.other	Passive hopping	en
dc.subject.other	Slip model	en
dc.subject.other	Robotics	en
dc.title	Energy saving passive-dynamic gait for a one-legged hopping robot	en
heal.type	journalArticle	en
heal.identifier.primary	10.1017/S026357470500250X	en
heal.identifier.secondary	http://dx.doi.org/10.1017/S026357470500250X	en
heal.language	English	en
heal.publicationDate	2006	en
heal.abstract	Increasing the energy autonomy of a hopping one-legged robot is studied in this paper. For a particular passive gait, of all those possible, the energy dissipated per unit length of travel is shown to be less than for any other gait. This optimal gait is identified analytically, by exploiting the commonly used SLIP model to simplify real robot dynamics. Both mechanical and electrical losses are considered. The accuracy of the optimal gait analytical prediction is evaluated by a numerical analysis of a realistic robot model. Finally, restrictions imposed on executing the optimal gait due to motor limitations are studied. © 2006 Cambridge University Press.	en
heal.publisher	CAMBRIDGE UNIV PRESS	en
heal.journalName	Robotica	en
dc.identifier.doi	10.1017/S026357470500250X	en
dc.identifier.isi	ISI:000239579800010	en
dc.identifier.volume	24	en
dc.identifier.issue	4	en
dc.identifier.spage	491	en
dc.identifier.epage	498	en