Simulation of New Leg Convepts for a Passively Compliant Hexapod Robot

Abstract

The use of legs for locomotion through rough terrain promises superior performance in comparison to wheeled vehicles. Nevertheless, most of today's legged machines lack a thorough design that incorporates spring elements in order to achieve elastic behavior. To build a robot which is able to walk and run smoothly, even on rough terrain, new biologically inspired leg concepts need to be developed. Those new legs should have the capability to absorb impacts, to store energy within their elastic elements and to change their stiffness, but to some degree should still allow a dexterous foot placement. Exploiting the benefits of passive compliance is the incentive that directs the research concerning the implementation of elastic systems to replace motors and gears within distinct joints. One of DLR's research goals is to show, using simulation studies, that an appropriately designed self-stabilizing structure can ease the contral and improve the performance of running robots. This research will result in a deeper understanding of elastic multi-Iegged robots and will guide further experimental and analytical research.