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- Title
DYNAMICS ANALYSIS AND PLANNING FOR A SPECIFIC LEG MODEL WITH A VARIABLE STIFFNESS ELEMENT.
- Authors
Li, Z.; Tan, Y. G.; Zeng, S.; Luo, H. Y.
- Abstract
Variable compliant elements in the leg play an important role in quadruped mammals' locomotion. This paper mainly investigates the dynamics characteristics of a specific leg model with a variable stiffness element during the stance phase. By choosing appropriate initial states and planning joint motion under specific constraint conditions, the model is able to move normally and pivot about the contact point. Particularly, the passive motion of the variable stiffness element is planned based on forced vibration characteristics and is set to experience a compression and extension process. In a detailed study, the optimal combination of the system parameters, meeting constraint conditions, were evaluated. We investigated the effects of the initial states on the leg's motion, and obtained the necessary variable stiffness characteristics under different conditions. The ground reaction features of the leg model present similar characteristics to those of a canine. A variable stiffness device with a good adjustability feature and a large adjustable range is discussed.
- Subjects
DYNAMICS; MATHEMATICAL models; MAMMAL anatomy; BODY movement; DYNAMIC models; SIMULATION methods &; models
- Publication
International Journal of Simulation Modelling (IJSIMM), 2017, Vol 16, Issue 4, p707
- ISSN
1726-4529
- Publication type
Article
- DOI
10.2507/IJSIMM16(4)CO17