The use of compliant joints and elastic energy storage in bio-inspired legged robots

Mechanism and Machine Theory

Volumn 44, Issue 3, 2009, Pages 580-590

  Scarfogliero, Umberto ^a   Stefanini, Cesare ^a,b   Dario, Paolo ^a,b  

^a SCUOLA SUPERIORE SANT ANNA   (Italy)

^b ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

Author keywords

Compliancy; Elasticity; Legged locomotion; Passive joints; Scale effects on locomotion

Indexed keywords

ANIMALS; BIOMECHANICS; BIPED LOCOMOTION; ELASTICITY; ENERGY STORAGE; FLYWHEELS; ROBOTICS; ROBOTS;

ANIMAL LOCOMOTIONS; BIO-INSPIRED; COMPLIANCY; COMPLIANT JOINTS; DESIGN LIMITATIONS; ELASTIC ENERGY STORAGES; ENERGY CONSTRAINTS; GROUND CONTACTS; IMPACT ENERGIES; LEGGED LOCOMOTION; LEGGED ROBOTS; MINIATURE JUMPING ROBOTS; OPTIMAL GAITS; PASSIVE JOINTS; RELEASE MECHANISMS; SCALE EFFECTS ON LOCOMOTION; SCALING EFFECTS; SPRING STIFFNESSES; STATE OF THE ARTS;

MACHINE DESIGN;

EID: 58249088155     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2008.08.010     Document Type: Article

References (31)

1. Hoyt D.F., Wickler S.J., and Cogger E.A. Time of contact and step length: the effect of limb length, running speed, load carrying and incline. Journal of Experimental Biology 230 (2000) 221-227
2. Biewener A.A., Blickhan R., Perry A.K., Heglund N.C., and Taylor C.R. Speed, stride frequency and energy cost per stride: how do they change with body size and gait?. Journal of Experimental Biology 138 (1988) 301-318
3. Biewener A.A. Biomechanical consequences of scaling. Journal of Experimental Biology 208 (2005) 1665-1676
4. U. Scarfogliero, F. Li, D. Chen, C. Stefanini, W. Liu, P. Dario, Size matter: jumping as effective locomotion in mini robots, in: Proceedings of the IEEE RoBio 2007, Sanya, China, 2007.
5. Kaneko M., Tachi S., Tanie K., and Abe M. Basic study on similarity in walking machine from a point of energetic efficiency. IEEE Journal of Robotics and Automation 3 (1987) 19-30
6. N. Lobontiu, M. Goldfarb, E. Garcia, Design and analysis of an elastodynamic inch-worm robotic insect, in: Proceedings of the IEEE Conference on Robotics and Automation 1999, Detroit, MD, 1999, pp. 2120-2125.
7. U. Scarfogliero, C. Stefanini, P. Dario, Design and development of the long-jumping Grillo mini robot, in: Proceedings of the IEEE ICRA 2007, Rome Italy, 2007, pp. 467-472.
8. Alexander R.M. Principles of Animal Locomotion (2003), Princeton University Press
9. Roberts T.J., and Marsh R.L. Probing the limits to muscle powered accelerations: lessons from jumping bullfrogs. The Journal of Experimental Biology 206 (2003) 2567-2580
10. Peplowski M.M., and Marsh R.L. Work and power output in the hindlimb muscles of Cuban tree frogs Osteopilus septentrionalis during jumping. The Journal of Experimental Biology 200 (1997) 2861-2870
11. Bennet-Clark H.C., and Lucey E.C.A. The jump of the flea: a study of the energetics and a model of the mechanism. The Journal of Experimental Biology 47 (1967) 59-76
12. Burrows M. Froghopper insects leap to new heights. Nature 424 (2003) 509
13. Alexander R.M., and Vernon A. Mechanics of hopping by kangaroos (Macropodidae). Journal of Zoology London 177 (1975) 265-303
14. Bibby S.R., Kerster R.C., Alexander R.M., Ker R., and Bennett M.B. The spring in the arc of the human foot. Nature 325 (1987) 147149
15. Pratt J., Chew C.M., Torres A., Dilworth P., and Pratt G. Virtual model control: an intuitive approach for bipedal locomotion. The International Journal of Robotics Research 20 (2001) 129-143
16. U. Scarfogliero, M. Folgheraiter, G. Gini LARP, biped robotics conceived as human modelling, in: S. Wermter et al. (Eds.), Biomimetic Neural Learning, 2005, pp. 298-313.
17. McGeer T. Passive dynamic walking. The International Journal of Robotics Research 9 2 (1990) 62-82
18. Cham J.G., Karpick J.K., and Cutkosky M.R. Stride period adaptation for a biomimetic running hexapod. The International Journal of Robotics Research 32 2 (2004) 1-13
19. Saranli U., Buehler M., and Koditschek D.E. RHex: a simple and highly mobile hexapod robot. The International Journal of Robotics Research 20 7 (2001) 616-631
20. J.M. Morrey, B. Lambrecht, A.D. Horchler, R.E. Ritzmann, R.D. Quinn, Highly mobile and robust small quadruped robots, in: Proceedings of the IEEE IROS 2003, 2003, pp. 82-87.
21. Burdick J., and Fiorini P. Minimalist jumping robots for celestial exploration. The International Journal of Robotics Research 22 (2003) 653-674
22. Y. Matsuyama, S. Hirai, Analysis of circular robot jumping by body deformation, in: Proceedings of the IEEE ICRA 2007, Rome, Italy, 2007, pp. 1968-1973.
23. H. Tsukagoshi, M. Sasaki, A. Kitagawa, T. Tanaka, Design of a higher jumping rescue robot with the optimized pneumatic drive, in: Proceedings of the IEEE ICRA 2005, Barcelona Spain, 2005, pp. 1276-1283.
24. S. Bergbreiter, K.S.J. Pister, Design of an autonomous jumping microrobot, in: Proceedings of the IEEE ICRA 2007, Rome, Italy, 2007, pp. 447-453.
25. S. Kim, M. Spenko, S. Trujillo, B. Heyneman, V. Mattoli, M. Cutkosky, Whole body adhesion: hierarchical, directional and distributed control of adhesive forces for a climbing robot, in: Proceedings of the IEEE ICRA 2007, Rome, Italy, 2007, pp. 1268-1273.
26. Song Y.S., and Sitti M. Surface-tension-driven biologically inspired water strider robots: theory and experiments. IEEE Transaction on Robotics 23 (2007) 578-589
27. G. Ferri, E. Caselli, V. Mattoli, A. Mondini, B, Mazzolai, P. Dario, A biologically-inspired algorithm implemented on a new highly flexible multi-agent platform for gas source localization, in: Proceedings of the IEEE BioRob 2006, Pisa, Italy, 2006, pp. 573-578.
28. Bakker T.C.M., and Mundwiler B. Pectoral fin size in a fish species with paternal care: a condition-dependent sexual trait revealing infection status. Freshwater Biology 41 (1999) 543-551
29. U. Scarfogliero, C. Stefanini, P. Dario, A bioinspired concept for high efficiency locomotion in micro robots: the jumping robot Grillo, in: Proceedings of the IEEE ICRA 2006, Orlando, Florida, 2006, pp. 4037-4042.
30. S. Laksanacharoen, A.J. Pollack, G.M. Nelson, R.D. Quinn, R.E. Ritzmann, Biomechanics and simulation of cricket for microrobot design, in: Proceedings of the IEEE ICRA 2000, San Francisco, CA, 2000, pp. 1088-1094.
31. G. Bonsignori, U. Scarfogliero, C. Stefanini, P. Dario, Bioinspired jumping strategy studying Leafhopper's Cicadella viridis (Hemiptera, Auchenorrhyncha, Cicadellidae), in: Proceedings of the IIT Workshop 2007, Genoa, 2007.