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FLEGX: A Jumping Flexible Robotic Leg

[+] Author Affiliations
Daniele Ludovico

Politecnico di Torino, Torino, Italy

Mariapaola D’Imperio, Ferdinando Cannella

Istituto Italiano di Tecnologia, Genoa, Italy

Paper No. DETC2017-68094, pp. V006T10A029; 7 pages
  • ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
  • Cleveland, Ohio, USA, August 6–9, 2017
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5820-2
  • Copyright © 2017 by ASME


Nowadays the robotic challenges are various and many of these are oriented towards bioinspired, safe and energy efficient solutions. Considering these needs, the authors propose the development of a flexible robotic leg as a first step in the design of a jumping humanoid robot. The virtual prototyping techniques played a key role in the identification of the optimal geometric and dynamic features of the leg, such as the length and thickness of the flexible link or the inertial properties of the whole system, and in the choice of the most suitable mechanical and electromechanical components. Several simulations were performed using the software MSC.Nastran® and MSC.Adams® - Matlab/Simulink® integrated environment and their results will be presented. Future works concern the assembly of a physical prototype and an extended campaign of experimental tests to collect data useful for validate the numerical models.

Copyright © 2017 by ASME
Topics: Robotics



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