Bio-inspired design of electrically-driven bounding quadrupeds via parametric analysis

Chatzakos, P; Papadopoulos, E

dc.contributor.author	Chatzakos, P	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:29:55Z
dc.date.available	2014-03-01T01:29:55Z
dc.date.issued	2009	en
dc.identifier.issn	0094-114X	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/19408
dc.subject	Dynamic running	en
dc.subject	Parametric analysis	en
dc.subject	Quadruped robot	en
dc.subject	Systematic design	en
dc.subject.classification	Engineering, Mechanical	en
dc.subject.other	Design	en
dc.subject.other	Multipurpose robots	en
dc.subject.other	Robotics	en
dc.subject.other	Robots	en
dc.subject.other	Surface properties	en
dc.subject.other	Bio-inspired	en
dc.subject.other	Bounding gaits	en
dc.subject.other	Dynamic running	en
dc.subject.other	Experimental biologies	en
dc.subject.other	Optimal shapes	en
dc.subject.other	Optimal sizes	en
dc.subject.other	Parametric analysis	en
dc.subject.other	Parametric studies	en
dc.subject.other	Payload capabilities	en
dc.subject.other	Performance criterions	en
dc.subject.other	Physical parameters	en
dc.subject.other	Quadruped robot	en
dc.subject.other	Qualitative properties	en
dc.subject.other	Running in	en
dc.subject.other	Sagittal planes	en
dc.subject.other	SIMPLE models	en
dc.subject.other	Simulation results	en
dc.subject.other	Systematic approaches	en
dc.subject.other	Systematic design	en
dc.subject.other	Technological limitations	en
dc.subject.other	Machine design	en
dc.title	Bio-inspired design of electrically-driven bounding quadrupeds via parametric analysis	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/j.mechmachtheory.2008.08.007	en
heal.identifier.secondary	http://dx.doi.org/10.1016/j.mechmachtheory.2008.08.007	en
heal.language	English	en
heal.publicationDate	2009	en
heal.abstract	This paper attempts to set the basis for a systematic approach in designing quadruped robots employing a dynamically stable quadruped running in the sagittal plane with a bounding gait, which is a simple model commonly used to analyze the basic qualitative properties of quadruped gaits that use the legs in pair. The outcome of the proposed methodology is the optimal shape of the bounding quadruped robot, i.e., the relation between its physical parameters, and the optimal size of the bounding quadruped robot, i.e., the physical magnitude of it, according to desired performance criteria. The performance criterion introduced is based on: ( a) the actuator effort to sustain an active gait, very close to a passive one, and (b) the maximum payload capability of the robot for a target overall mass. The parametric study examines the behavior of the performance criterion over a range of non-dimensional variables connected to robot physical parameters and gait characteristics. The study takes into consideration data from experimental biology and ground surface properties, while it is subject to the existing technological limitations and economic restraints, i.e., the fact that there is a limited number of motor/gearbox combinations available from a practical point of view. The findings from simulation results indicate that the proposed methodology can assist in the design of new, and modi. cations of existing quadruped robots. (c) 2008 Elsevier Ltd. All rights reserved.	en
heal.publisher	PERGAMON-ELSEVIER SCIENCE LTD	en
heal.journalName	Mechanism and Machine Theory	en
dc.identifier.doi	10.1016/j.mechmachtheory.2008.08.007	en
dc.identifier.isi	ISI:000263293600005	en
dc.identifier.volume	44	en
dc.identifier.issue	3	en
dc.identifier.spage	559	en
dc.identifier.epage	579	en