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unknown forces and torques than the dynamic equations. In Swing phase 1.5
of the reactions between the foot and the ground are made -0.5
0.5
based on the results of kinematics analysis.
-1 0
Introduction 0 0.2 0.4 0.6 0.8 1
Time (s)
1.2 1.4 1.6 1.8 2
Many legged robots have an open-loop structure. The Figure 2: Horizontal (X) and vertical (Y) foot reaction forces
dynamics of these types of robots are readily derived and as horizontal force as the one needed to accelerate the entire
a result generic equations have been developed that aids in leg mechanism forward at the same acceleration of the foot.
the derivation of their dynamics. Theo Jansen’s leg Since in this work, the leg mechanism is supported by a
mechanism in “Wind Beast” is of a closed-loop form, and a frame (Z1) where the foot slides on the ground, we can
new dynamics analysis needs to be performed, which estimate the vertical force required for the desired friction
results in an indeterminate system. Some assumptions for to counteract the horizontal force of the foot.
the force reactions between the foot and the ground are Results and Discussion
made. As a result all the force reactions at the joints as well With the assumption of the foot reactions on the ground, the
as the actuating torque applied to the input crank can be complete dynamic analysis was performed over the entire
determined. With the dynamic solution the optimization cycle. The solution returned the reaction forces at each joint
process can be carried out as discussed in [2]. 0.06
Methods 0.04