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Optimized Leg Proportion to Enhance Rough Terrain Mobility of a Biomimetic Walking Robot

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Advances in Robot Design and Intelligent Control (RAAD 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 540))

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Abstract

A new approach on the optimization of leg proportions for a biomimetic walking robot is presented in this paper. The main focus is on optimizing robot leg proportions through evaluation of different parameters. These include the workspace volume, circular and spherical radius of movement and the angular variation at the leg endpoint with predefined workspaces of the joints in compliance to biological analogies. Therefore mathematical dependencies are considered separately and finally combined to one value indicating the performance level.

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Author information

Authors and Affiliations

  1. Technische Hochschule Nürnberg, 3D-Visualisierungszentrum, Nuremberg, Germany

    Florian Winter, Stefan Landkammer, Rüdiger Hornfeck & Peter Heß

  2. Institut Für Technische Produktentwicklung, Universität der Bundeswehr München, Neubiberg, Germany

    Kristin Paetzold

Authors
  1. Florian Winter
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  2. Stefan Landkammer
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  3. Rüdiger Hornfeck
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  4. Peter Heß
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  5. Kristin Paetzold
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Corresponding author

Correspondence to Florian Winter .

Editor information

Editors and Affiliations

  1. Robotics Laboratory, Mihajlo Pupin Institute, Belgrade, Serbia

    Aleksandar Rodić

  2. Faculty of Automatic Control and Computers, University Politehnica of Bucharest, Bucharest, Romania

    Theodor Borangiu

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Winter, F., Landkammer, S., Hornfeck, R., Heß, P., Paetzold, K. (2017). Optimized Leg Proportion to Enhance Rough Terrain Mobility of a Biomimetic Walking Robot. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham. https://doi.org/10.1007/978-3-319-49058-8_35

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  • DOI: https://doi.org/10.1007/978-3-319-49058-8_35

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-49057-1

  • Online ISBN: 978-3-319-49058-8

  • eBook Packages: EngineeringEngineering (R0)

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