Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion
Both the linear leg spring model and the two-segment leg model with constant spring stiffness have been broadly used as template models to investigate bouncing gaits for legged robots with compliant legs. In addition to these two models, the other stiffness leg spring models developed using inspirat...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2016/1453713 |
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| _version_ | 1832550819491217408 |
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| author | Runxiao Wang Wentao Zhao Shujun Li Shunqi Zhang |
| author_facet | Runxiao Wang Wentao Zhao Shujun Li Shunqi Zhang |
| author_sort | Runxiao Wang |
| collection | DOAJ |
| description | Both the linear leg spring model and the two-segment leg model with constant spring stiffness have been broadly used as template models to investigate bouncing gaits for legged robots with compliant legs. In addition to these two models, the other stiffness leg spring models developed using inspiration from biological characteristic have the potential to improve high-speed running capacity of spring-legged robots. In this paper, we investigate the effects of “J”-curve spring stiffness inspired by biological materials on running speeds of segmented legs during high-speed locomotion. Mathematical formulation of the relationship between the virtual leg force and the virtual leg compression is established. When the SLIP model and the two-segment leg model with constant spring stiffness and with “J”-curve spring stiffness have the same dimensionless reference stiffness, the two-segment leg model with “J”-curve spring stiffness reveals that (1) both the largest tolerated range of running speeds and the tolerated maximum running speed are found and (2) at fast running speed from 25 to 40/92 m s−1 both the tolerated range of landing angle and the stability region are the largest. It is suggested that the two-segment leg model with “J”-curve spring stiffness is more advantageous for high-speed running compared with the SLIP model and with constant spring stiffness. |
| format | Article |
| id | doaj-art-2650abedee0c4fcca4eb43b57501f4a1 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-2650abedee0c4fcca4eb43b57501f4a12025-02-03T06:05:38ZengWileyApplied Bionics and Biomechanics1176-23221754-21032016-01-01201610.1155/2016/14537131453713Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed LocomotionRunxiao Wang0Wentao Zhao1Shujun Li2Shunqi Zhang3School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, ChinaSchool of Mechanical Engineering, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, ChinaSchool of Mechanical Engineering, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, ChinaSchool of Mechanical Engineering, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, ChinaBoth the linear leg spring model and the two-segment leg model with constant spring stiffness have been broadly used as template models to investigate bouncing gaits for legged robots with compliant legs. In addition to these two models, the other stiffness leg spring models developed using inspiration from biological characteristic have the potential to improve high-speed running capacity of spring-legged robots. In this paper, we investigate the effects of “J”-curve spring stiffness inspired by biological materials on running speeds of segmented legs during high-speed locomotion. Mathematical formulation of the relationship between the virtual leg force and the virtual leg compression is established. When the SLIP model and the two-segment leg model with constant spring stiffness and with “J”-curve spring stiffness have the same dimensionless reference stiffness, the two-segment leg model with “J”-curve spring stiffness reveals that (1) both the largest tolerated range of running speeds and the tolerated maximum running speed are found and (2) at fast running speed from 25 to 40/92 m s−1 both the tolerated range of landing angle and the stability region are the largest. It is suggested that the two-segment leg model with “J”-curve spring stiffness is more advantageous for high-speed running compared with the SLIP model and with constant spring stiffness.http://dx.doi.org/10.1155/2016/1453713 |
| spellingShingle | Runxiao Wang Wentao Zhao Shujun Li Shunqi Zhang Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion Applied Bionics and Biomechanics |
| title | Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion |
| title_full | Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion |
| title_fullStr | Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion |
| title_full_unstemmed | Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion |
| title_short | Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion |
| title_sort | influence of j curve spring stiffness on running speeds of segmented legs during high speed locomotion |
| url | http://dx.doi.org/10.1155/2016/1453713 |
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