title: Model-Based Experimental Development of Passive Compliant Robot Legs from Fiberglass Composites.
abstract: We report on the methodology of developing compliant, half-circular, and composite robot legs with designable stiffness. First, force-displacement experiments on flat cantilever composites made by one or multifiberglass cloths are executed. By mapping the cantilever mechanics to the virtual spring model, the equivalent elastic moduli of the composites can be derived. Next, by using the model that links the curved beam mechanics back to the virtual spring, the resultant stiffness of the composite in a half-circular shape can be estimated without going through intensive experimental tryouts. The overall methodology has been experimentally validated, and the fabricated composites were used on a hexapod robot to perform walking and leaping behaviors.
authors.affiliation: Department of Mechanical Engineering, National Taiwan University, Sec. 4, No. 1 Roosevelt Road, Taipei 106, Taiwan.
authors.forename: Shang-Chang
authors.initials: SC
authors.lastname: Lin
authors.affiliation: Department of Mechanical Engineering, National Taiwan University, Sec. 4, No. 1 Roosevelt Road, Taipei 106, Taiwan.
authors.forename: Chia-Jui
authors.initials: CJ
authors.lastname: Hu
authors.affiliation: Department of Mechanical Engineering, National Taiwan University, Sec. 4, No. 1 Roosevelt Road, Taipei 106, Taiwan.
authors.forename: Wen-Pin
authors.identifier: 0000-0002-6855-5024
authors.initials: WP
authors.lastname: Shih
authors.affiliation: Department of Mechanical Engineering, National Taiwan University, Sec. 4, No. 1 Roosevelt Road, Taipei 106, Taiwan.
authors.forename: Pei-Chun
authors.initials: PC
authors.lastname: Lin