Designing a Variable Compliance Leg for Soft-Ground Locomotion
Session Number
ject ID: ENGN 03
Advisor(s)
Dr. Paul Umbanhower, Northwestern University
Discipline
Engineering
Start Date
20-4-2022 10:45 AM
End Date
20-4-2022 11:00 AM
Abstract
Legged locomotion on soft-ground is essential to designing robots for tasks such as disaster relief and extraterrestrial exploration where the ground may be yielding instead of rigid. In order to have successful legged locomotion on soft-ground, as much energy as possible needs to be conserved. This project aims to conserve this energy by minimizing the penetration depth of a robot foot hitting the ground. In order to do this, a mechanism is tested that utilizes force control by means of springs with data being collected for further analysis. Through utilizing an integrator simulation as a basis of comparing data, this project sets the groundwork for designing a robot leg. Eventually, this project aims to be explored further through the creation of said robot leg that is able to self-sufficiently function on multiple different ground stiffnesses.
Designing a Variable Compliance Leg for Soft-Ground Locomotion
Legged locomotion on soft-ground is essential to designing robots for tasks such as disaster relief and extraterrestrial exploration where the ground may be yielding instead of rigid. In order to have successful legged locomotion on soft-ground, as much energy as possible needs to be conserved. This project aims to conserve this energy by minimizing the penetration depth of a robot foot hitting the ground. In order to do this, a mechanism is tested that utilizes force control by means of springs with data being collected for further analysis. Through utilizing an integrator simulation as a basis of comparing data, this project sets the groundwork for designing a robot leg. Eventually, this project aims to be explored further through the creation of said robot leg that is able to self-sufficiently function on multiple different ground stiffnesses.