Identifying Ground-Robot Impedance to Improve Terrain Adaptability in Running Robots

@inproceedings{Arevalo2015IdentifyingGI,
  title={Identifying Ground-Robot Impedance to Improve Terrain Adaptability in Running Robots},
  author={Juan Carlos Arevalo and Daniel Sanz-Merodio and Manuel Cestari and Elena Garc{\'i}a},
  year={2015}
}
To date, running robots are still outperformed by animals, but their dynamic behaviour can be described by the same model. This coincidence means that biomechanical studies can reveal much about the adaptability and energy effi‐ ciency of walking mechanisms. In particular, animals adjust their leg stiffness to negotiate terrains with different stiffnesses to keep the total leg-ground stiffness constant. In this work, we aim to provide one method to identify ground-robot impedance so that… CONTINUE READING

From This Paper

Figures and tables from this paper.

References

Publications referenced by this paper.
SHOWING 1-10 OF 43 REFERENCES

Similar Papers

Loading similar papers…