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Highly dynamic robotic leg for non-biomimetic walking robots

Baumgaertner, Jan ORCID iD icon 1; Bach, Johannes; Masia, Lorenzo; Badreddin, Essam; Pott, Peter P.
1 Institut für Produktionstechnik (WBK), Karlsruher Institut für Technologie (KIT)

Abstract (englisch):

Due to a predisposition of DNA to generate symmetric anatomy, there are no tripedal animals in nature. Yet, threelegged walking might be the sweet spot between the energy efficiency of bipeds and the stability of quadrupeds. This paper presents the non-biomimetic leg for the TriPed, a novel three-legged mobile walking robot that aims to study the advantages and disadvantages of three-legged walking. We showcase its new non-biomimetic leg design that allows for fast repositioning by keeping the leg mass close to the body. This is done using physical experiments as well as a simscape simulation. The experiments show that the legs are capable of moving about 3 m/s.

Preprint §
DOI: 10.5445/IR/1000154130
Veröffentlicht am 23.12.2022
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Produktionstechnik (WBK)
Universität Heidelberg (Universität Heidelberg)
Publikationstyp Proceedingsbeitrag
Publikationsdatum 29.06.2022
Sprache Englisch
Identifikator ISBN: 978-3-8007-5894-4
KITopen-ID: 1000154130
Erschienen in ACTUATOR 2022; International Conference and Exhibition on New Actuator Systems and Applications, Mannheim, Deutschland, 29-30 June 2022
Veranstaltung International Conference and Exhibition on New Actuator Systems and Applications (2022), Mannheim, Deutschland, 29.06.2022 – 30.06.2022
Verlag Institute of Electrical and Electronics Engineers (IEEE)
Seiten 1-4
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