Open document
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General information |
| Author |
Kwon, Oh-Seok; Choi, RockHyun; Lee, Dong-Ha |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
In this paper, we propose a locomotion
control method for a compliant legged robot from slow
walking to fast running. We also examine the energy
efficiency of the compliant legged robot controlled by
the proposed locomotion control method.
Experimentally, we obtain the robot running speed of
about 4.3m/s with the initial compliant leg length of
0.1m. In addition, we obtain very good energy
efficiency. In the best case, the mechanical cost of
transport(Cmt), known as an energy efficiency
measure, is obtained at about 0.2. Comparing with the
other energy efficient robots, our robot exhibits very
good energy efficiency. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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