Locomotion Control of a Compliant Legged Robot from Slow Walking to Fast Running

[摘要] 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.

[学科分类] 自动化工程

[关键词] Compliant Legged Robot;Spring-Mass Model;Self-Stability;Cost of Transport;Mechanical Cost of Transport