The purpose of this paper is to present a 3 DoF underactuated mechanism with one flexible component. It is called FLEGX (FLEXible LEG) and it would be the first step in the design of a jumping humanoid robot with flexible limbs. An early system-level design validation of the FLEGX mechanical configuration was performed using the software MSC.Nastran ® and MSC.Adams ® -Matlab/Simulink ® integrated environment.

Advanced modelling techniques for flexible robotic systems / D’Imperio, Mariapaola; Pizzamiglio, Cristiano; Ludovico, Daniele; Caldwell, Darwin G.; Genta, Giancarlo; Cannella, Ferdinando. - ELETTRONICO. - 49:(2018), pp. 381-388. ((Intervento presentato al convegno 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 tenutosi a ita nel 2017 [10.1007/978-3-319-61276-8_42].

Advanced modelling techniques for flexible robotic systems

Pizzamiglio, Cristiano;Genta, Giancarlo;
2018

Abstract

The purpose of this paper is to present a 3 DoF underactuated mechanism with one flexible component. It is called FLEGX (FLEXible LEG) and it would be the first step in the design of a jumping humanoid robot with flexible limbs. An early system-level design validation of the FLEGX mechanical configuration was performed using the software MSC.Nastran ® and MSC.Adams ® -Matlab/Simulink ® integrated environment.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2693841
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