Erik Mortensen, Jan Petr ˇs
Animals can finely modulate their leg stiffness to interact with complex terrains and absorb sudden shocks. This paper proposes a novel mechanical design to integrate compliancy into robot legs based on tensegrity, allowing for passive compliance essential for absorbing impacts and adapting to diverse terrains. The design features tensegrity joints with a mechanism for controlling the joint's rotational stiffness by modulating the tension in the cable actuation system. Experimental results demonstrate that the robot leg can significantly reduce impact forces of sudden shocks by at least 34.7% and achieve a similar leg flexion under a load difference of 10.26 N by effectively adjusting its stiffness configuration. These findings indicate that tensegrity-based leg designs possess considerable potential for creating more resilient and adaptable legged robots.
@article{d3fe2236-7e05-495a-a618-2865ee261938,
title={Tensegrity-based Robot Leg Design with Variable Stiffness},
author={Erik Mortensen and Jan Petr ˇs},
year={2022},
language={English}
}TY - JOUR TI - Tensegrity-based Robot Leg Design with Variable Stiffness AU - Erik Mortensen AU - Jan Petr ˇs PY - 2022 LA - English ER -
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