The Role of Compliant Elements in Two-Legged Robot’s Foot Model

• Autorzy: Zurawska M. S. , Zielinska T. , Szumowski M.

Identyfikatory

DOI

10.14313/JAMRIS_1-2015/9

• Języki publikacji: EN

Abstrakty

EN

Proposition of compliant foot for bipedal robot is introduced and its properties are investigated. The foot consists of four compliant elements (spring-damper) mounted to four vertices of a rectangular frame. The results of robot gait analysis using Zero Moment Point method are shown. ZMP trajectories for rigid and compliant foot are compared and conclusions are formulated. Foot compliance reduces needed for postural stabilization compensatory movements of the upper part of the body by those simplifying control methods and construction. Obtained results will be applied in real prototype of small humanoidal robot. Robot construction in which proposed foot will be applied is shortly introduced.

Słowa kluczowe

EN

humanoidal robots; compliance; ankle joint; robotic feet; prototyping

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2015
• Tom: Vol. 9, No. 1
• Strony: 68--76
• Opis fizyczny: Bibliogr. 16 poz., rys.

Twórcy

autor

Zurawska M. S.

• Institute of Aeronautics and Applied Mechanics, Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Nowowiejska 24, Warsaw, 00-665 www: http://tmr.meil.pw.edu.pl/index.php?/pol/ Pracownicy/Magdalena-Zurawska

autor

Zielinska T.

• Institute of Aeronautics and Applied Mechanics, Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Nowowiejska 24, Warsaw, 00-665, www: http://tmr.meil.pw.edu.pl/index.php?/pol/ Pracownicy/Teresa-Zielinska

autor

Szumowski M.

• Institute of Aeronautics and Applied Mechanics, Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Nowowiejska 24, Warsaw, 00-665, www: http://tmr.meil.pw.edu.pl/index.php?/pol/ Pracownicy/Maksymilian-Szumowski.

Bibliografia

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