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Effect Of Rear Leg Morphology On Energetics Of A Quadrupedal Robot

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thesis
posted on 22.05.2021, 10:25 by Jamil Jivraj
Many biomimetic legged robots exist, but their leg designs appear to be arbitrarily chosen. Here, we examine the performance difference between a canine-inspired rear leg in its normal configuration versus the same leg in a transverse-mirrored configuration. A quadrupedal robot was built to test this hypothesis; the robot was successfully able to walk in with both rear-leg configurations. Successful telemetry of energy and localization data was also demonstrated. Both experimental and simulation results confirm that the transverse-mirrored configuration is faster and more efficient. In experiment the robot achieved speeds of up to 0.4 m/s versus 0.33 m/s, and specific resistances of 3.9 versus 5.1 in transverse and normal experiments, respectively. It is suggested here that the transverse-mirrored configuration, which engages the knee spring more than the normal configuration, be used in designs which require higher speeds and greater efficiencies.

History

Language

eng

Degree

Master of Applied Science

Program

Electrical and Computer Engineering

Granting Institution

Ryerson University

LAC Thesis Type

Thesis