Biomimetic Design and Optimal Swing of a Hexapod Robot Leg. Biological inspiration has spawned a wealth of solutions to both mechanical design and control schemes in the efforts to develop agile legged machines. This paper presents a compliant leg mechanism for a small six- legged robot, HITCR- II, based on abstracted anatomy from insect legs. Kinematic structure, relative proportion of leg segment lengths and actuation system were analyzed in consideration of anatomical structure as well as muscle system of insect legs and desired mobility. BigDog Overview November 22, 2008 . Leg Kinematics Position Terrain Map Laser Data Cost Map.
A spring based passive compliance mechanism inspired by musculoskeletal structures of biological systems was integrated into distal segment of the leg to soften foot impact on touchdown. In addition, an efficient locomotion planner capable of generating natural movements for the legs during swing phase was proposed. The problem of leg swing was formulated as an optimal control procedure that satisfies a series of locomotion task terms while minimizing a biologically- based objective function, which was solved by a Gauss Pseudospectral Method (GPM) based numerical technique. We applied this swing generation algorithm to both a simulation platform and a robot prototype. Results show that the proposed leg structure and swing planner are able to successfully perform effective swing movements on rugged terrains. Design of a single leg module for underwater walking robot Teoman Coban. RobotShop Blog > GoRobotics >> Education > Dynamic Tools > Robot Leg. Robotics code Contest Cyborgs DARPA design Domestic Drone FlowBotics FlowBotics Studio Google. Design Your Own Robot (www.mos.org/exhibits/robot) FIRST Robotics Competition (www.usfirst.org). PDF file is also available at http:// Robot Arm Page 5 of 6 Developed by IEEE as part of the IEEE.
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