Impact forces and agility in legged robot locomotion

摘要

In this article we present a method for determining the effect of impact forces on a legged robot’s agility. Here agility is defined as the robot’s ability to change its velocity, which requires generation of acceleration. The level of achievable acceleration is determined using an analysis of dynamic performance. This results in performance curves describing how well the legged system uses impact and contact forces to accelerate itself. These capabilities are bounded by actuator torque limits and friction forces. Herein, the performance curves are examined at the termination of the impact event. The method is illustrated using a hexapod.