Triple Compliant Limbs with Adaptive Body Structure
Final rept. 7 Mar 2011-6 Mar 2012
CARNEGIE-MELLON UNIV PITTSBURGH PA OFFICE OF SPONSORED RESEARCH
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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.