Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion
Joint Authors
Wang, Runxiao
Zhao, Wentao
Li, Shujun
Zhang, Shunqi
Source
Applied Bionics and Biomechanics
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-11-28
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Both the linear leg spring model and the two-segment leg model with constant spring stiffness have been broadly used as template models to investigate bouncing gaits for legged robots with compliant legs.
In addition to these two models, the other stiffness leg spring models developed using inspiration from biological characteristic have the potential to improve high-speed running capacity of spring-legged robots.
In this paper, we investigate the effects of “J”-curve spring stiffness inspired by biological materials on running speeds of segmented legs during high-speed locomotion.
Mathematical formulation of the relationship between the virtual leg force and the virtual leg compression is established.
When the SLIP model and the two-segment leg model with constant spring stiffness and with “J”-curve spring stiffness have the same dimensionless reference stiffness, the two-segment leg model with “J”-curve spring stiffness reveals that (1) both the largest tolerated range of running speeds and the tolerated maximum running speed are found and (2) at fast running speed from 25 to 40/92 m s−1 both the tolerated range of landing angle and the stability region are the largest.
It is suggested that the two-segment leg model with “J”-curve spring stiffness is more advantageous for high-speed running compared with the SLIP model and with constant spring stiffness.
American Psychological Association (APA)
Wang, Runxiao& Zhao, Wentao& Li, Shujun& Zhang, Shunqi. 2016. Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion. Applied Bionics and Biomechanics،Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1094803
Modern Language Association (MLA)
Wang, Runxiao…[et al.]. Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion. Applied Bionics and Biomechanics No. 2016 (2016), pp.1-11.
https://search.emarefa.net/detail/BIM-1094803
American Medical Association (AMA)
Wang, Runxiao& Zhao, Wentao& Li, Shujun& Zhang, Shunqi. Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion. Applied Bionics and Biomechanics. 2016. Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1094803
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1094803