ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)

vol 64 / January, 2021

Development of Energy-Efficient Galloping Robots with Variable-Length Links

I. I. Borisov
ITMO University, Saint Petersburg, 197101, Russian Federation; Assistant

S. A. Kolyubin
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor

R. A. Zashchitin
ITMO University, Faculty of Control Systems and Robotics; Engineer;

S. Stramigioli
University of Twente, Department of Electrical Engineering, Mathematics and Computer Science;

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Abstract. An algorithm for structural-parametric synthesis of leg mechanisms of galloping robots that can move in an uncertain environment with external dynamic contact interactions and the use of relatively simple position and speed controllers is presented. Dynamic locomotion of galloping robots, whose leg mechanisms mimic the musculoskeletal system of animals, is provided by a variable-length link with passive regulation. The variable-length link, which is a connection of two solid-state links by means of a spring-loaded prismatic kinematic pair, is introduced into the resonance state to ensure energy-efficient dynamic locomotion, energy recovery when colliding with the floor, and leveling of the underlying surface irregularities.
Keywords: synthesis of mechanisms, galloping robots, walking robots, energy efficiency, biomimetics



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