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dc.contributor.author
Günther, Fabian
dc.contributor.author
Giardina, Fabio
dc.contributor.author
Iida, Fumiya
dc.date.accessioned
2020-10-01T11:30:15Z
dc.date.available
2017-06-11T14:12:07Z
dc.date.available
2020-10-01T11:30:15Z
dc.date.issued
2014
dc.identifier.isbn
978-1-4799-3685-4
en_US
dc.identifier.other
10.1109/ICRA.2014.6907612
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/93445
dc.description.abstract
Reduction of the system complexity is currently one of the main challenges for efficient and versatile legged robot locomotion. In this paper, we present a new one legged hopping robot called CHIARO, which is equipped with a curved foot. Even though the robot has no sensory feedback and consists of only two rigid bodies and one spring loaded joint with parallel actuation, it is able to achieve stable forward-hopping over a wide range of parameters and forward-speeds. Operating at natural hopping frequency, the parallel actuation shows good efficiency. This paper presents an approach to determine stability and efficiency of a highly non-linear mechanical system. By implementing a two dimensional numerical model, taking into account ground contact forces by a Newtonian kinematic impact- and coulomb friction law, we conducted a thorough parameter analysis based on a series of simulations. The comparison of the simulation and real world experiments shows good accordance, which qualifies the simulation for parameter optimization including prediction of robot stability and efficiency.
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.title
Self-stable one-legged hopping using a curved foot
en_US
dc.type
Conference Paper
dc.date.published
2014-09-29
ethz.book.title
2014 IEEE International Conference on Robotics and Automation (ICRA)
en_US
ethz.pages.start
5133
en_US
ethz.pages.end
5138
en_US
ethz.event
IEEE International Conference on Robotics and Automation (ICRA 2014)
en_US
ethz.event.location
Hong Kong, China
en_US
ethz.event.date
May 31 - June 7, 2014
en_US
ethz.publication.place
Piscataway, NJ
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich, direkt::00012 - Lehre und Forschung, direkt::00007 - Departemente, direkt::02130 - Departement Maschinenbau und Verfahrenstechnik / Department of Mechanical and Process Engineering::02620 - Institut für Robotik und Intelligente Systeme (IRIS) / Institute of Robotics and Intelligent Systems (IRIS)::03835 - Iida, Fumiya (SNF-Professur) (ehemalig)
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich, direkt::00012 - Lehre und Forschung, direkt::00007 - Departemente, direkt::02130 - Departement Maschinenbau und Verfahrenstechnik / Department of Mechanical and Process Engineering::02620 - Institut für Robotik und Intelligente Systeme (IRIS) / Institute of Robotics and Intelligent Systems (IRIS)::03835 - Iida, Fumiya (SNF-Professur) (ehemalig)
ethz.date.deposited
2017-06-11T14:12:21Z
ethz.source
ECIT
ethz.identifier.importid
imp593652991c74275283
ethz.ecitpid
pub:146805
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2017-07-12T18:20:42Z
ethz.rosetta.lastUpdated
2024-02-02T12:12:51Z
ethz.rosetta.versionExported
true
ethz.COinS
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