Improving Robustness of Legged Robots Against Mechanical Shock Using Impulsive Dynamics

Improving Robustness of Legged Robots Against Mechanical Shock Using Impulsive Dynamics

This manuscript presents a method to calculate and analyze mechanical shock of a multi-rigid body system, based on the revised concept of the center of percussion and a newly derived variable called the radius of percussion. The objective is to improve the mechanism’s robustness against mechanical s...

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Bibliographic Details
Main Authors: Josephus J. M. Driessen, Romeo Orsolino
Format: Article
Language:English
Published: Frontiers Media S.A. 2021-01-01
Series:Frontiers in Mechanical Engineering
Subjects:
legged robots
mechanical design
multibody dynamics
impulse dynamics
robustness
shock propagation
Online Access:https://www.frontiersin.org/articles/10.3389/fmech.2020.601922/full

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