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Impact Force Reduction Using Variable Stiffness With An Optimal Approach For Jumping Robots, Juan Manuel Calderon Chavez
Impact Force Reduction Using Variable Stiffness With An Optimal Approach For Jumping Robots, Juan Manuel Calderon Chavez
USF Tampa Graduate Theses and Dissertations
Running, jumping and walking are physical activities that are performed by humans in a simple and efficient way. However, these types of movements are difficult to perform by humanoid robots. Humans perform these activities without difficulty thanks to their ability to absorb the ground impact force. The absorption of the impact force is based on the human ability to vary muscles stiffness.
The principal objective of this dissertation is to study vertical jumps in order to reduce the impact force in the landing phase of the jump motion of humanoid robots. Additionally, the impact force reduction is applied to an …