Article thumbnail


By  and Kevin C. Galloway and Kevin C. Galloway


Recent developments in legged robotics have found that constant stiffness passive compliant legs are an effective mechanism for enabling dynamic locomotion. In spite of its success, one of the limitations of this approach is reduced adaptability. The final leg mechanism usually performs optimally for a small range of conditions such as the desired speed, payload, and terrain. For many situations in which a small locomotion system experiences a change in any of these conditions, it is desirable to have a tunable stiffness leg for effective gait control. To date, the mechanical complexities of designing usefully robust tunable passive compliance into legs has precluded their implementation on practical running robots. In this thesis we present an overview of tunable stiffness legs, and introduce a simple leg model that captures the spatial compliance of our tunable leg. We present experimental evidence supporting the advantages of tunable stiffness legs, and implement what we believe is the first autonomous dynamic legged robot capable of automatic leg stiffness adjustment. Finally we discuss design objectives, material considerations, and manufacturing methods that lead to robust passiv

Topics: compliance, tunable, leg, composite, variable
Year: 2014
OAI identifier: oai:CiteSeerX.psu:
Provided by: CiteSeerX
Download PDF:
Sorry, we are unable to provide the full text but you may find it at the following location(s):
  • (external link)
  • (external link)
  • (external link)
  • Suggested articles

    To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.