Work Analysis of Compliant Leg Mechanisms for Bipedal Walking Robots
In this study, we analyse the work of bipedal walking robots with compliant feet. For this purpose, a walking model of bipedal robots with compliant feet is considered. The ligamentous structure of the human foot is used for the compliant feet mechanisms of the bipedal robot considered herein. A wor...
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2013-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/56926 |
| _version_ | 1818404621770555392 |
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| author | Byoung-Ho Kim |
| author_facet | Byoung-Ho Kim |
| author_sort | Byoung-Ho Kim |
| collection | DOAJ |
| description | In this study, we analyse the work of bipedal walking robots with compliant feet. For this purpose, a walking model of bipedal robots with compliant feet is considered. The ligamentous structure of the human foot is used for the compliant feet mechanisms of the bipedal robot considered herein. A work principle is used for determining the corresponding work at the joint space of the compliant legs according to the reaction force which is propagated from the foot space. The usefulness of the work analysis is demonstrated through exemplary simulations. Consequently, it is shown that the work analysis can be used for evaluating the fatigue of the bipedal robot accumulated by the physical walking impact between the supporting foot and the contact surface. Furthermore, comfortable walking by means of footgear with a compliance is addressed. |
| first_indexed | 2024-12-14T08:43:04Z |
| format | Article |
| id | doaj.art-aa976a84da94408b8a2fb9b46229bf5c |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-14T08:43:04Z |
| publishDate | 2013-09-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-aa976a84da94408b8a2fb9b46229bf5c2022-12-21T23:09:15ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-09-011010.5772/5692610.5772_56926Work Analysis of Compliant Leg Mechanisms for Bipedal Walking RobotsByoung-Ho Kim0 Biomimetics and Intelligent Robotics Lab., Dept. of Mechatronics Eng., Kyungsung Univ., Busan, KoreaIn this study, we analyse the work of bipedal walking robots with compliant feet. For this purpose, a walking model of bipedal robots with compliant feet is considered. The ligamentous structure of the human foot is used for the compliant feet mechanisms of the bipedal robot considered herein. A work principle is used for determining the corresponding work at the joint space of the compliant legs according to the reaction force which is propagated from the foot space. The usefulness of the work analysis is demonstrated through exemplary simulations. Consequently, it is shown that the work analysis can be used for evaluating the fatigue of the bipedal robot accumulated by the physical walking impact between the supporting foot and the contact surface. Furthermore, comfortable walking by means of footgear with a compliance is addressed.https://doi.org/10.5772/56926 |
| spellingShingle | Byoung-Ho Kim Work Analysis of Compliant Leg Mechanisms for Bipedal Walking Robots International Journal of Advanced Robotic Systems |
| title | Work Analysis of Compliant Leg Mechanisms for Bipedal Walking Robots |
| title_full | Work Analysis of Compliant Leg Mechanisms for Bipedal Walking Robots |
| title_fullStr | Work Analysis of Compliant Leg Mechanisms for Bipedal Walking Robots |
| title_full_unstemmed | Work Analysis of Compliant Leg Mechanisms for Bipedal Walking Robots |
| title_short | Work Analysis of Compliant Leg Mechanisms for Bipedal Walking Robots |
| title_sort | work analysis of compliant leg mechanisms for bipedal walking robots |
| url | https://doi.org/10.5772/56926 |
| work_keys_str_mv | AT byounghokim workanalysisofcompliantlegmechanismsforbipedalwalkingrobots |