Design and Dynamic Analysis of a Compliant Leg Configuration towards the Biped Robot’s Spring-Like Walking
The spring-loaded inverted pendulum (SLIP) model has been proven successfully applied to implement spring-like walking for biped robots. This work presents a compliant leg configuration that can meet the requirements of the SLIP model. The leg is characterized by the fact that most of the mass is co...
Gespeichert in:
| Veröffentlicht in: | Journal of intelligent & robotic systems 2022-04, Vol.104 (4), Article 64 |
|---|---|
| Hauptverfasser: | , , , , , , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | |
|---|---|
| container_issue | 4 |
| container_start_page | |
| container_title | Journal of intelligent & robotic systems |
| container_volume | 104 |
| creator | Luo, Guifu Du, Ruilong Zhu, Shiqiang Song, Sumian Yuan, Haihui Zhou, Hua Zhao, Mingguo Gu, Jason |
| description | The spring-loaded inverted pendulum (SLIP) model has been proven successfully applied to implement spring-like walking for biped robots. This work presents a compliant leg configuration that can meet the requirements of the SLIP model. The leg is characterized by the fact that most of the mass is concentrated in the hip, and the leg is spring-like and light in weight. Numerical models were introduced to analyze the stiffness of the leg, and its dynamic characteristics with the mass of the leg being taken into account. Using the proposed model, the analysis on the stiffness showed that the leg could be taken as a variable stiffness spring with respect to the length of the leg, the longer the leg, the greater the stiffness. In addition to this, it suggested that the mass of the leg should be maintained below one-tenth of the mass concentrated in the hip to perform spring-like walking. Experiments regarding the stiffness and dynamic characteristics showed a good agreement with the simulation results, thus verifying the presented leg configuration and the numerical models. Afterwards, experiments were conducted on vertical jumps of the leg, demonstrating the feasibility of the leg to perform the biped’s spring-like walking, regardless of being at a certain speed, or at varying speeds. |
| doi_str_mv | 10.1007/s10846-022-01614-3 |
| format | Article |
| fullrecord | <record><control><sourceid>gale_proqu</sourceid><recordid>TN_cdi_proquest_journals_2645320716</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><galeid>A729524059</galeid><sourcerecordid>A729524059</sourcerecordid><originalsourceid>FETCH-LOGICAL-c358t-cf8915fe63b0a435b7c4497bf48b139447192afa7cf6a8103a704ef24f01eb503</originalsourceid><addsrcrecordid>eNp9kUtuFDEQhi0EEkPCBVhZYt2h_Gq3l8OEkEgjIfEQS6u6x26c9NiD3SM0O66R63GSOGkkdqgWpXp8par6CXnD4IIB6HeFQSfbBjhvgLVMNuIZWTGlRQMSzHOyAsNZLZv2JXlVyi0AmE6ZFZkuXQljpBh39PIUcR8Guo44nUooNHmKdJP2hylgnOnWjTWKPozHjHNIkc7pF-ZdofMPR9-Hg9vRz6lP85_f94V-OeQQx2Yb7hz9jtNdDc7JC49Tca__-jPy7erD1811s_308Waz3jaDUN3cDL4zTHnXih5QCtXrQUqjey-7ngkjpWaGo0c9-BY7BgI1SOe59MBcr0CckbfL3ENOP4-uzPY2HXO9qljeSiU4aNbWroula8TJ2RB9mjMO1XaufiFF50PNrzU3iktQpgJ8AYacSsnO23riHvPJMrCPMthFBltlsE8yWFEhsUDl6R8u_9vlP9QDuc-KzA</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2645320716</pqid></control><display><type>article</type><title>Design and Dynamic Analysis of a Compliant Leg Configuration towards the Biped Robot’s Spring-Like Walking</title><source>Springer Nature - Complete Springer Journals</source><creator>Luo, Guifu ; Du, Ruilong ; Zhu, Shiqiang ; Song, Sumian ; Yuan, Haihui ; Zhou, Hua ; Zhao, Mingguo ; Gu, Jason</creator><creatorcontrib>Luo, Guifu ; Du, Ruilong ; Zhu, Shiqiang ; Song, Sumian ; Yuan, Haihui ; Zhou, Hua ; Zhao, Mingguo ; Gu, Jason</creatorcontrib><description>The spring-loaded inverted pendulum (SLIP) model has been proven successfully applied to implement spring-like walking for biped robots. This work presents a compliant leg configuration that can meet the requirements of the SLIP model. The leg is characterized by the fact that most of the mass is concentrated in the hip, and the leg is spring-like and light in weight. Numerical models were introduced to analyze the stiffness of the leg, and its dynamic characteristics with the mass of the leg being taken into account. Using the proposed model, the analysis on the stiffness showed that the leg could be taken as a variable stiffness spring with respect to the length of the leg, the longer the leg, the greater the stiffness. In addition to this, it suggested that the mass of the leg should be maintained below one-tenth of the mass concentrated in the hip to perform spring-like walking. Experiments regarding the stiffness and dynamic characteristics showed a good agreement with the simulation results, thus verifying the presented leg configuration and the numerical models. Afterwards, experiments were conducted on vertical jumps of the leg, demonstrating the feasibility of the leg to perform the biped’s spring-like walking, regardless of being at a certain speed, or at varying speeds.</description><identifier>ISSN: 0921-0296</identifier><identifier>EISSN: 1573-0409</identifier><identifier>DOI: 10.1007/s10846-022-01614-3</identifier><language>eng</language><publisher>Dordrecht: Springer Netherlands</publisher><subject>Analysis ; Artificial Intelligence ; Bandwidths ; Compliance ; Configurations ; Control ; Dynamic characteristics ; Electrical Engineering ; Engineering ; label V ; Legs ; Mathematical models ; Mechanical Engineering ; Mechatronics ; Numerical models ; R&D ; Regular Paper ; Research & development ; Robotics ; Robots ; Slip ; Stiffness ; Topical collection on Robotics Vision and Intelligent Control ; Walking ; Weight reduction</subject><ispartof>Journal of intelligent & robotic systems, 2022-04, Vol.104 (4), Article 64</ispartof><rights>The Author(s), under exclusive licence to Springer Nature B.V. 2022</rights><rights>COPYRIGHT 2022 Springer</rights><rights>The Author(s), under exclusive licence to Springer Nature B.V. 2022.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c358t-cf8915fe63b0a435b7c4497bf48b139447192afa7cf6a8103a704ef24f01eb503</citedby><cites>FETCH-LOGICAL-c358t-cf8915fe63b0a435b7c4497bf48b139447192afa7cf6a8103a704ef24f01eb503</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/s10846-022-01614-3$$EPDF$$P50$$Gspringer$$H</linktopdf><linktohtml>$$Uhttps://link.springer.com/10.1007/s10846-022-01614-3$$EHTML$$P50$$Gspringer$$H</linktohtml><link.rule.ids>314,776,780,27901,27902,41464,42533,51294</link.rule.ids></links><search><creatorcontrib>Luo, Guifu</creatorcontrib><creatorcontrib>Du, Ruilong</creatorcontrib><creatorcontrib>Zhu, Shiqiang</creatorcontrib><creatorcontrib>Song, Sumian</creatorcontrib><creatorcontrib>Yuan, Haihui</creatorcontrib><creatorcontrib>Zhou, Hua</creatorcontrib><creatorcontrib>Zhao, Mingguo</creatorcontrib><creatorcontrib>Gu, Jason</creatorcontrib><title>Design and Dynamic Analysis of a Compliant Leg Configuration towards the Biped Robot’s Spring-Like Walking</title><title>Journal of intelligent & robotic systems</title><addtitle>J Intell Robot Syst</addtitle><description>The spring-loaded inverted pendulum (SLIP) model has been proven successfully applied to implement spring-like walking for biped robots. This work presents a compliant leg configuration that can meet the requirements of the SLIP model. The leg is characterized by the fact that most of the mass is concentrated in the hip, and the leg is spring-like and light in weight. Numerical models were introduced to analyze the stiffness of the leg, and its dynamic characteristics with the mass of the leg being taken into account. Using the proposed model, the analysis on the stiffness showed that the leg could be taken as a variable stiffness spring with respect to the length of the leg, the longer the leg, the greater the stiffness. In addition to this, it suggested that the mass of the leg should be maintained below one-tenth of the mass concentrated in the hip to perform spring-like walking. Experiments regarding the stiffness and dynamic characteristics showed a good agreement with the simulation results, thus verifying the presented leg configuration and the numerical models. Afterwards, experiments were conducted on vertical jumps of the leg, demonstrating the feasibility of the leg to perform the biped’s spring-like walking, regardless of being at a certain speed, or at varying speeds.</description><subject>Analysis</subject><subject>Artificial Intelligence</subject><subject>Bandwidths</subject><subject>Compliance</subject><subject>Configurations</subject><subject>Control</subject><subject>Dynamic characteristics</subject><subject>Electrical Engineering</subject><subject>Engineering</subject><subject>label V</subject><subject>Legs</subject><subject>Mathematical models</subject><subject>Mechanical Engineering</subject><subject>Mechatronics</subject><subject>Numerical models</subject><subject>R&D</subject><subject>Regular Paper</subject><subject>Research & development</subject><subject>Robotics</subject><subject>Robots</subject><subject>Slip</subject><subject>Stiffness</subject><subject>Topical collection on Robotics Vision and Intelligent Control</subject><subject>Walking</subject><subject>Weight reduction</subject><issn>0921-0296</issn><issn>1573-0409</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><sourceid>BENPR</sourceid><recordid>eNp9kUtuFDEQhi0EEkPCBVhZYt2h_Gq3l8OEkEgjIfEQS6u6x26c9NiD3SM0O66R63GSOGkkdqgWpXp8par6CXnD4IIB6HeFQSfbBjhvgLVMNuIZWTGlRQMSzHOyAsNZLZv2JXlVyi0AmE6ZFZkuXQljpBh39PIUcR8Guo44nUooNHmKdJP2hylgnOnWjTWKPozHjHNIkc7pF-ZdofMPR9-Hg9vRz6lP85_f94V-OeQQx2Yb7hz9jtNdDc7JC49Tca__-jPy7erD1811s_308Waz3jaDUN3cDL4zTHnXih5QCtXrQUqjey-7ngkjpWaGo0c9-BY7BgI1SOe59MBcr0CckbfL3ENOP4-uzPY2HXO9qljeSiU4aNbWroula8TJ2RB9mjMO1XaufiFF50PNrzU3iktQpgJ8AYacSsnO23riHvPJMrCPMthFBltlsE8yWFEhsUDl6R8u_9vlP9QDuc-KzA</recordid><startdate>20220401</startdate><enddate>20220401</enddate><creator>Luo, Guifu</creator><creator>Du, Ruilong</creator><creator>Zhu, Shiqiang</creator><creator>Song, Sumian</creator><creator>Yuan, Haihui</creator><creator>Zhou, Hua</creator><creator>Zhao, Mingguo</creator><creator>Gu, Jason</creator><general>Springer Netherlands</general><general>Springer</general><general>Springer Nature B.V</general><scope>AAYXX</scope><scope>CITATION</scope><scope>3V.</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>7XB</scope><scope>8AL</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>8FK</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>FR3</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K7-</scope><scope>L6V</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>M0N</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><scope>Q9U</scope></search><sort><creationdate>20220401</creationdate><title>Design and Dynamic Analysis of a Compliant Leg Configuration towards the Biped Robot’s Spring-Like Walking</title><author>Luo, Guifu ; Du, Ruilong ; Zhu, Shiqiang ; Song, Sumian ; Yuan, Haihui ; Zhou, Hua ; Zhao, Mingguo ; Gu, Jason</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c358t-cf8915fe63b0a435b7c4497bf48b139447192afa7cf6a8103a704ef24f01eb503</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2022</creationdate><topic>Analysis</topic><topic>Artificial Intelligence</topic><topic>Bandwidths</topic><topic>Compliance</topic><topic>Configurations</topic><topic>Control</topic><topic>Dynamic characteristics</topic><topic>Electrical Engineering</topic><topic>Engineering</topic><topic>label V</topic><topic>Legs</topic><topic>Mathematical models</topic><topic>Mechanical Engineering</topic><topic>Mechatronics</topic><topic>Numerical models</topic><topic>R&D</topic><topic>Regular Paper</topic><topic>Research & development</topic><topic>Robotics</topic><topic>Robots</topic><topic>Slip</topic><topic>Stiffness</topic><topic>Topical collection on Robotics Vision and Intelligent Control</topic><topic>Walking</topic><topic>Weight reduction</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Luo, Guifu</creatorcontrib><creatorcontrib>Du, Ruilong</creatorcontrib><creatorcontrib>Zhu, Shiqiang</creatorcontrib><creatorcontrib>Song, Sumian</creatorcontrib><creatorcontrib>Yuan, Haihui</creatorcontrib><creatorcontrib>Zhou, Hua</creatorcontrib><creatorcontrib>Zhao, Mingguo</creatorcontrib><creatorcontrib>Gu, Jason</creatorcontrib><collection>CrossRef</collection><collection>ProQuest Central (Corporate)</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>ProQuest Central (purchase pre-March 2016)</collection><collection>Computing Database (Alumni Edition)</collection><collection>Technology Research Database</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>ProQuest Central (Alumni) (purchase pre-March 2016)</collection><collection>Materials Science & Engineering Collection</collection><collection>ProQuest Central (Alumni Edition)</collection><collection>ProQuest Central UK/Ireland</collection><collection>Advanced Technologies & Aerospace Collection</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central Korea</collection><collection>Engineering Research Database</collection><collection>ProQuest Central Student</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Computer Science Collection</collection><collection>Computer Science Database</collection><collection>ProQuest Engineering Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Computing Database</collection><collection>Engineering Database</collection><collection>Advanced Technologies & Aerospace Database</collection><collection>ProQuest Advanced Technologies & Aerospace Collection</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>Engineering Collection</collection><collection>ProQuest Central Basic</collection><jtitle>Journal of intelligent & robotic systems</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Luo, Guifu</au><au>Du, Ruilong</au><au>Zhu, Shiqiang</au><au>Song, Sumian</au><au>Yuan, Haihui</au><au>Zhou, Hua</au><au>Zhao, Mingguo</au><au>Gu, Jason</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Design and Dynamic Analysis of a Compliant Leg Configuration towards the Biped Robot’s Spring-Like Walking</atitle><jtitle>Journal of intelligent & robotic systems</jtitle><stitle>J Intell Robot Syst</stitle><date>2022-04-01</date><risdate>2022</risdate><volume>104</volume><issue>4</issue><artnum>64</artnum><issn>0921-0296</issn><eissn>1573-0409</eissn><abstract>The spring-loaded inverted pendulum (SLIP) model has been proven successfully applied to implement spring-like walking for biped robots. This work presents a compliant leg configuration that can meet the requirements of the SLIP model. The leg is characterized by the fact that most of the mass is concentrated in the hip, and the leg is spring-like and light in weight. Numerical models were introduced to analyze the stiffness of the leg, and its dynamic characteristics with the mass of the leg being taken into account. Using the proposed model, the analysis on the stiffness showed that the leg could be taken as a variable stiffness spring with respect to the length of the leg, the longer the leg, the greater the stiffness. In addition to this, it suggested that the mass of the leg should be maintained below one-tenth of the mass concentrated in the hip to perform spring-like walking. Experiments regarding the stiffness and dynamic characteristics showed a good agreement with the simulation results, thus verifying the presented leg configuration and the numerical models. Afterwards, experiments were conducted on vertical jumps of the leg, demonstrating the feasibility of the leg to perform the biped’s spring-like walking, regardless of being at a certain speed, or at varying speeds.</abstract><cop>Dordrecht</cop><pub>Springer Netherlands</pub><doi>10.1007/s10846-022-01614-3</doi></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 0921-0296 |
| ispartof | Journal of intelligent & robotic systems, 2022-04, Vol.104 (4), Article 64 |
| issn | 0921-0296 1573-0409 |
| language | eng |
| recordid | cdi_proquest_journals_2645320716 |
| source | Springer Nature - Complete Springer Journals |
| subjects | Analysis Artificial Intelligence Bandwidths Compliance Configurations Control Dynamic characteristics Electrical Engineering Engineering label V Legs Mathematical models Mechanical Engineering Mechatronics Numerical models R&D Regular Paper Research & development Robotics Robots Slip Stiffness Topical collection on Robotics Vision and Intelligent Control Walking Weight reduction |
| title | Design and Dynamic Analysis of a Compliant Leg Configuration towards the Biped Robot’s Spring-Like Walking |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-02-13T09%3A35%3A45IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-gale_proqu&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Design%20and%20Dynamic%20Analysis%20of%20a%20Compliant%20Leg%20Configuration%20towards%20the%20Biped%20Robot%E2%80%99s%20Spring-Like%20Walking&rft.jtitle=Journal%20of%20intelligent%20&%20robotic%20systems&rft.au=Luo,%20Guifu&rft.date=2022-04-01&rft.volume=104&rft.issue=4&rft.artnum=64&rft.issn=0921-0296&rft.eissn=1573-0409&rft_id=info:doi/10.1007/s10846-022-01614-3&rft_dat=%3Cgale_proqu%3EA729524059%3C/gale_proqu%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=2645320716&rft_id=info:pmid/&rft_galeid=A729524059&rfr_iscdi=true |