首页|Researcher at University of Utah Reports Research in Robotics (Proximal Joint Co mpliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion)
Researcher at University of Utah Reports Research in Robotics (Proximal Joint Co mpliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Data detailed on robotics have been pr esented. According to news reporting from the University of Utah by NewsRx journ alists, research stated, “Ground reaction forces (GRFs) are a critical component of legged locomotion, and controlling their direction leads to more stable, eff icient, and robust performance.” Our news correspondents obtained a quote from the research from University of Ut ah: “The novelty of this work is to studying passive proximal joint (hips/should ers) compliance for the purpose of redirecting the GRF passively. Previous works have redirected the GRF actively or studied passive proximal joint compliance f or purposes such as swing phase efficiency, but passive methods of stance-phase GRF redirection are under-developed. This paper analyzes the relationship betwee n hip compliance and the GRF direction analytically and with simulations of a tr otting quadruped. The results show increased GRF redirection, on average, with i ncreased joint stiffness, for a range of cases. An example method of utilizing t his relationship to improve locomotion performance is presented by simulating on line compliance adaptation. By adapting the compliance parameter during locomoti on, the cost of locomotion was reduced toward the known minimum within the param eter space explored.”
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