Accession Number:

ADA586735

Title:

Triple Compliant Limbs with Adaptive Body Structure

Descriptive Note:

Final rept. 7 Mar 2011-6 Mar 2012

Corporate Author:

CARNEGIE-MELLON UNIV PITTSBURGH PA OFFICE OF SPONSORED RESEARCH

Report Date:

2012-06-20

Pagination or Media Count:

35.0

Abstract:

An innovative approach to 3-legged mobility was developed which enables a variety of novel and useful gaits and mobile manipulation strategies. A variable length cam concept was realized in a prototype version showing how it could be realized with commercially available off the shelf components. The mechanism can be further improved through the use of custom designed components, which would decrease overall system weight and increase performance. Further inertial energy losses can be mitigated by reducing gear and drivetrain weights. A gear testing device was developed which will provide loading data for gears made of various materials under normal and cyclic loads. The results from this test can lead the design of efficient gear trains with minimal moments of inertia.

Subject Categories:

  • Cybernetics
  • Bionics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE