Model-Based Experimental Development of Passive Compliant Robot Legs from Fiberglass Composites
We report on the methodology of developing compliant, half-circular, and composite robot legs with designable stiffness. First, force-displacement experiments on flat cantilever composites made by one or m...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2015-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2015/754832 |
| Summary: | We report on the
methodology of developing compliant,
half-circular, and composite robot legs with
designable stiffness. First, force-displacement
experiments on flat cantilever composites made
by one or multifiberglass cloths are executed.
By mapping the cantilever mechanics to the
virtual spring model, the equivalent elastic
moduli of the composites can be derived. Next,
by using the model that links the curved beam
mechanics back to the virtual spring, the
resultant stiffness of the composite in a
half-circular shape can be estimated without
going through intensive experimental tryouts.
The overall methodology has been experimentally
validated, and the fabricated composites were
used on a hexapod robot to perform walking and
leaping behaviors. |
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| ISSN: | 1176-2322 1754-2103 |