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Mechanical Shock Propagation Reduction in Robot Legs | IEEE Journals & Magazine | IEEE Xplore

Mechanical Shock Propagation Reduction in Robot Legs


Abstract:

This letter shows how the mass distribution in a robot's leg affects the propagation of mechanical shocks from the foot to the torso. An example is given of a leg design ...Show More

Abstract:

This letter shows how the mass distribution in a robot's leg affects the propagation of mechanical shocks from the foot to the torso. An example is given of a leg design that propagates no shock at all; and a formula is given for the propagation of shock in a general robot leg, modelled as a chain of rigid bodies, assuming that the foot makes a point or small-area contact when it strikes the ground.
Published in: IEEE Robotics and Automation Letters ( Volume: 5, Issue: 2, April 2020)
Page(s): 1183 - 1190
Date of Publication: 14 January 2020

ISSN Information:


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