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