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A novel robotic leg design with hybrid dynamics
Institute for Aerospace Studies, University of Toronto.
Institute for Aerospace Studies, University of Toronto.ORCID iD: 0000-0003-4977-6339
2013 (English)In: Advanced Robotics, ISSN 0169-1864, E-ISSN 1568-5535, Vol. 27, no 12, p. 919-931Article in journal (Refereed) Published
Abstract [en]

A new leg mechanism is designed to achieve optimal behaviour in both the stance and swing phases. The leg is designed such that its dynamics and kinematics optimally mimic those of simpler mechanisms, namely the spring-loaded inverted pendulum (SLIP) and the double pendulum, for the stance and swing phase, respectively. Controllers based on the simpler mechanisms can thus be used, resulting in an effective control strategy that is simple and transparent. © 2013 Taylor & Francis Group, LLC.

Place, publisher, year, edition, pages
2013. Vol. 27, no 12, p. 919-931
Keywords [en]
hopping robot, leg mechanism, legged locomotion, reduction by design
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-9609DOI: 10.1080/01691864.2013.797136Scopus ID: 2-s2.0-84879689407Local ID: 8443cda4-6983-4a6c-b4a6-2901c3c72b5cOAI: oai:DiVA.org:ltu-9609DiVA, id: diva2:982547
Note

Upprättat; 2013; 20141110 (ninhul)

Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2019-08-20Bibliographically approved

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Emami, Reza

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