Passive compliance for a RC servo-controlled bouncing robot

Meyer, Friedrich, Spröwitz, Alexander and Berthouze, Luc (2006) Passive compliance for a RC servo-controlled bouncing robot. Advanced Robotics, 20 (8). pp. 953-961. ISSN 0169-1864

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Abstract

A novel and low-cost passively compliant mechanism is described that can be used with RC servos to actuate legged robots in tasks involving high dynamic loads such as bouncing. Compliance is achieved by combining visco-elastic material and metal parts. Joint response to dynamic loads is evaluated using real-world experiments and force data are obtained from a Lagrangian analysis of the system. The experimental results demonstrate the applicative potential of this mechanism.

Item Type: Article
Schools and Departments: School of Engineering and Informatics > Informatics
Subjects: Q Science > QA Mathematics > QA0075 Electronic computers. Computer science
Depositing User: Chris Keene
Date Deposited: 11 Jul 2007
Last Modified: 30 Nov 2012 16:51
URI: http://sro.sussex.ac.uk/id/eprint/1224
Google Scholar:7 Citations
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