Bipedal robotic locomotion is one of the most complex robotic research field, in which many aspects must be studied (e.i., dynamic balance, interaction with different terrains, walking cycle, running cycle, etc.). In this paper, compliant legs are implemented in a virtual biped robot in order to increase walking and running performances. The virtual model has been presented in other works and it is optimised and validated in this paper. Several simulations have been made implementing different values of stiffness in the legs of the virtual robot. A comparison between compliant and no compliant legs has been performed presenting innovative results. The conceived idea of the biped robot with compliant legs allows to increase the locomotion performances of bipedal robots and can be used to design innovative personal vehicles and exoskeletons in the next future.

COMPLIANT LEGS IN BIPED ROBOTS FOR RUNNING OPTIMIZATION

P. Fiorini;G. G. Muscolo
2022-01-01

Abstract

Bipedal robotic locomotion is one of the most complex robotic research field, in which many aspects must be studied (e.i., dynamic balance, interaction with different terrains, walking cycle, running cycle, etc.). In this paper, compliant legs are implemented in a virtual biped robot in order to increase walking and running performances. The virtual model has been presented in other works and it is optimised and validated in this paper. Several simulations have been made implementing different values of stiffness in the legs of the virtual robot. A comparison between compliant and no compliant legs has been performed presenting innovative results. The conceived idea of the biped robot with compliant legs allows to increase the locomotion performances of bipedal robots and can be used to design innovative personal vehicles and exoskeletons in the next future.
Biped Robots, Running, Walking, Flexible Legs, Compliant Locomotion
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11562/1081836
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