The bow leg hopping robot

  • Brown B
  • Zeglin G
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Abstract

The bow leg hopper is a novel locomotion design with a highly
resilient leg that resembles an archer's bow. During the flight a
“thrust” actuator adds elastic energy to the leg, which is
automatically released during stance to control hopping height. Lateral
motion is controlled by directing the leg angle at touchdown, which
determines the angle of takeoff or reflection. The leg pivots freely on
a hip bearing, and is automatically decoupled from the leg-angle
positioner during stance to preclude hip torques that would disturb body
attitude. Upright attitude is maintained without active control by
allowing the body to “hang” from the hip joint. Preliminary
experiments with a planar prototype have demonstrated impressive
performance, high efficiency, and low power requirements. Current
experiments are focused on developing control and planning schemes to
enable locomotion over discrete “stepping stones” and
obstacles

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Authors

  • B. Brown

  • G. Zeglin

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