On increasing energy autonomy for a one-legged hopping robot

Papadopoulos, E; Cherouvim, N

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Cherouvim, N	en
dc.date.accessioned	2014-03-01T02:42:53Z
dc.date.available	2014-03-01T02:42:53Z
dc.date.issued	2004	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31130
dc.subject	Hopping robot	en
dc.subject	Passive hopping	en
dc.subject	SLIP model	en
dc.subject.other	Actuators	en
dc.subject.other	Automation	en
dc.subject.other	Electric losses	en
dc.subject.other	Energy utilization	en
dc.subject.other	Equations of motion	en
dc.subject.other	Friction	en
dc.subject.other	Mathematical models	en
dc.subject.other	Optimal control systems	en
dc.subject.other	Robotics	en
dc.subject.other	Torque control	en
dc.subject.other	Velocity control	en
dc.subject.other	Energy autonomy	en
dc.subject.other	Hopping robots	en
dc.subject.other	Passive hopping	en
dc.subject.other	SLIP models	en
dc.subject.other	Mobile robots	en
dc.title	On increasing energy autonomy for a one-legged hopping robot	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2004.1302450	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2004.1302450	en
heal.publicationDate	2004	en
heal.abstract	In this paper it is shown that, for a one-legged robot, there exists a particular passive gait, of all those possible, for which the dissipated energy per meter of travel is minimized. An analytical method is used to identify the optimal gait. A SLIP model of the robot is used to simplify the dynamics. Both mechanical and electrical losses are taken into account. A numerical analysis of a complete robot model follows, to evaluate the accuracy of the analytical prediction. Finally, the limitations imposed by a torque limited motor, with regard to the optimal gait, are studied.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2004.1302450	en
dc.identifier.volume	2004	en
dc.identifier.issue	5	en
dc.identifier.spage	4645	en
dc.identifier.epage	4650	en