Effective Viscous Damping Enables Morphological Computation in Legged Locomotion

Effective Viscous Damping Enables Morphological Computation in Legged Locomotion

Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of physical damping exist in compliant robotic legged locomotion. It remains unclear how physical damping can be exploited for locomotion tasks, while its advantages...

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Bibliographic Details
Main Authors: An Mo, Fabio Izzi, Daniel F. B. Haeufle, Alexander Badri-Spröwitz
Format: Article
Language:English
Published: Frontiers Media S.A. 2020-08-01
Series:Frontiers in Robotics and AI
Subjects:
damping
energy dissipation
legged locomotion
ground disturbance
drop test
rolling diaphragm
Online Access:https://www.frontiersin.org/article/10.3389/frobt.2020.00110/full

Internet

https://www.frontiersin.org/article/10.3389/frobt.2020.00110/full

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