On the biomimetic design of agile-robot legs

García Armada, Elena and Arévalo, Juan Carlos and Muñoz, Gustavo and González de Santos, Pablo (2011). On the biomimetic design of agile-robot legs. "Sensors", v. 11 (n. 12); pp. 11305-11334. ISSN 14248220. https://doi.org/10.3390/s111211305.


Title: On the biomimetic design of agile-robot legs
  • García Armada, Elena
  • Arévalo, Juan Carlos
  • Muñoz, Gustavo
  • González de Santos, Pablo
Item Type: Article
Título de Revista/Publicación: Sensors
Date: 2011
ISSN: 14248220
Volume: 11
Faculty: Centro de Automática y Robótica (CAR) UPM-CSIC
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (1MB) | Preview


The development of functional legged robots has encountered its limits in human-made actuation technology. This paper describes research on the biomimetic design of legs for agile quadrupeds. A biomimetic leg concept that extracts key principles from horse legs which are responsible for the agile and powerful locomotion of these animals is presented. The proposed biomimetic leg model defines the effective leg length, leg kinematics, limb mass distribution, actuator power, and elastic energy recovery as determinants of agile locomotion, and values for these five key elements are given. The transfer of the extracted principles to technological instantiations is analyzed in detail, considering the availability of current materials, structures and actuators. A real leg prototype has been developed following the biomimetic leg concept proposed. The actuation system is based on the hybrid use of series elasticity and magneto-rheological dampers which provides variable compliance for natural motion. From the experimental evaluation of this prototype, conclusions on the current technological barriers to achieve real functional legged robots to walk dynamically in agile locomotion are presented.

More information

Item ID: 13896
DC Identifier: https://oa.upm.es/13896/
OAI Identifier: oai:oa.upm.es:13896
DOI: 10.3390/s111211305
Official URL: http://www.mdpi.com/1424-8220/11/12/11305
Deposited by: Memoria Investigacion
Deposited on: 20 Dec 2012 18:52
Last Modified: 21 Apr 2016 13:20
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM