Passive compliance for a RC servo-controlled bouncing robot

摘要

A novel and low-cost passively-compliant mechanism is described that can be used with RC servos to actuate legged robots in tasks involving high dynamic loads such as bouncing. Compliance is achieved by combining visco-elastic material and metal parts. Joint response to dynamic loads is evaluated using real-world experiments, and force data are obtained from a Lagrangian analysis of the system. The experimental results demonstrate the applicative potential of this mechanism.