New Variable Passive-Compliant Element Design for Quadruped Adaptation to Stiffness-Varying Terrain | Zendy

Edin Kočo | Zendy; Alan Mutka | Zendy; Zdenko Kovačić | Zendy

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New Variable Passive-Compliant Element Design for Quadruped Adaptation to Stiffness-Varying Terrain

Author(s) -

Edin Kočo,

Alan Mutka,

Zdenko Kovačić

Publication year - 2016

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/63893

Subject(s) - computer science , robot , stiffness , revolute joint , terrain , slider , actuator , control theory (sociology) , simulation , mechanical engineering , structural engineering , engineering , artificial intelligence , control (management) , ecology , biology

This paper presents the design of a novel variable passive-compliant (VPC) element utilized as a lower-leg implant of a fully electrically driven quadruped robot. It is designed as a slider-piston mechanism which ensures that the force produced during a foot-ground contact is directly perpendicular to the contact surface of an actuated revolute spring. In this way, by altering the stiffness of quadruped legs in a closed-loop manner, the VPC element enables the quadruped robot to adapt to varying terrain characteristics, ensuring a constant hopping frequency over a wide range of terrain-stiffness variations. The designed VPC element and its beneficial characteristics are described in detail. Mathematical relations are formulated that help to describe the influence of the VPC element during vertical hopping of a quadruped robot. The properties of the quadruped research platform with integrated VPC element were verified in simulation and through experiments

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