Mechanical Design and Control of Compliant Leg for a Quadruped Robot

Download PDF
Open Webpage

Michal Zielinski, Dominik Belter

Published: 01 Jan 2018, Last Modified: 04 Nov 2025AUTOMATION 2018EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: In this paper, we propose a new mammal-like mechanical design of the compliant robotic leg. We propose the application of elastic components to reduce the mechanical impact during landing phase and protect the gearboxes of the servomotors. We also use the elastic tendon which stores the energy in springs. The stored energy is then released at the beginning of the flight phase to increase the height of the jump. We propose and verify the dynamic model of the leg. Finally, in the series of experiments, we show the mechanical properties of the leg.