Designing a Variable Compliance Leg for Soft-Ground Locomotion
Session Number
Project ID: ENGN 05
Advisor(s)
Dr. Paul Umbanhowar; Northwestern University
Discipline
Engineering
Start Date
19-4-2023 9:20 AM
End Date
19-4-2023 9:35 AM
Abstract
Legged locomotion on soft-ground is essential to designing robots for tasks such as disaster relief and extraterrestrial exploration where the ground is typically 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 create a robot leg able to adapt to a variety of terrains with 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 is typically 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 create a robot leg able to adapt to a variety of terrains with different ground stiffnesses.