Inerter effects for running robots with mechanical impedance

摘要

This paper presents inerer effect for achieving high-speed running of legged robots. The previous simplest biped robot with mechanical impedance consisted of a mass and a telescopic leg with a spring. However, the running speed of the robot is limited by the natural period of the model, which cannot be freely designed. Our proposed method overcomes this limitation by virtue of the inerter. The effectiveness of the proposed method is demonstrated through a mathematical analysis and numerical simulations.