Computational Design of Closed-Chain Linkages: Hopping Robot Driven by Morphological Computation
Kirill V. Nasonov,Dmitriy V. Ivolga,Ivan I. Borisov,Sergey A. Kolyubin,Kirill V. Nasonov,Dmitriy V. Ivolga,Ivan I. Borisov,Sergey A. Kolyubin
The main advantages of legged robots over wheeled ones are their abilities to traverse on uneven terrain due to the use of intermittent contacts and an ability to shift the center of mass relative to the contact location. A robot's leg design can be implemented by using an open-chain mechanism actuated with high-density torque actuators though this solution needs a vast energy budget. An alternati...
