Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot

<table class="table-group" id="tab6"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Parameter</td><td class="align_center">Value</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">Leg length <svg height="8.57479pt" id="M80" style="vertical-align:-0.04981041pt" version="1.1" viewbox="-0.0498162 -8.52498 7.11986 8.57479" width="7.11986pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M495 163C480 117 462 85 444 65C421 39 387 34 332 34C290 34 256 36 236 47C218 57 213 77 213 131V526C213 612 222 616 301 622V650H40V622C122 616 128 611 128 526V126C128 41 120 34 36 28V0H489C498 31 519 126 525 157L495 163Z"></path></g></svg></td><td class="align_center">84.000 mm</td></tr><tr><td class="align_left">Center of mass to axis of rotation <svg height="9.35772pt" id="M81" style="vertical-align:-0.04981995pt" version="1.1" viewbox="-0.0498162 -9.3079 3.40097 9.35772" width="3.40097pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M238 0V26C174 32 166 38 166 104V712C132 700 70 683 18 677V653C81 647 87 645 87 577V104C87 38 78 32 15 26V0H238Z"></path></g></svg></td><td class="align_center">47.141 mm</td></tr><tr><td class="align_left">Equivalent body mass <svg height="5.8998pt" id="M82" style="vertical-align:-0.04981995pt" version="1.1" viewbox="-0.0498162 -5.84998 10.7866 5.8998" width="10.7866pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M797 0V26C739 32 732 36 732 103V296C732 394 682 449 605 449C576 449 550 437 529 423C504 407 475 389 446 366C425 418 382 449 334 449C303 449 279 437 253 421C222 403 201 385 180 371V452C135 432 85 419 41 411V388C99 379 102 374 102 310V103C102 38 93 32 27 26V0H238V26C189 32 180 38 180 103V338C210 363 250 390 289 390C351 390 377 348 377 275V103C377 37 368 32 306 26V0H520V26C465 32 456 38 456 101V296C456 314 455 326 453 338C491 369 529 390 565 390C628 390 653 345 653 274V107C653 36 642 32 583 26V0H797Z"></path></g></svg></td><td class="align_center">3.611<span class="nowrap"><svg height="8.57479pt" id="M83" style="vertical-align:-0.04981041pt" version="1.1" viewbox="-0.0498162 -8.52498 7.51132 8.57479" width="7.51132pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M517 162C503 123 484 88 467 68C445 42 417 34 341 34C291 34 256 34 237 47C219 59 213 81 213 128V317H308C395 317 402 311 415 240H444V431H415C403 364 398 356 307 356H213V584C213 613 215 616 246 616H322C394 616 421 609 435 587C448 566 458 544 467 502L496 506C493 557 488 625 488 650H42V622C120 616 128 612 128 523V125C128 43 120 35 29 28V0H511C520 31 540 125 546 158L517 162Z"></path></g></svg>-</span>002 kg</td></tr><tr><td class="align_left">Equivalent moment of inertia <svg height="8.57479pt" id="M84" style="vertical-align:-0.04981041pt" version="1.1" viewbox="-0.0498162 -8.52498 4.54925 8.57479" width="4.54925pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M303 0V28C221 34 213 39 213 125V525C213 610 221 616 303 622V650H38V622C120 616 128 610 128 525V125C128 40 120 34 38 28V0H303Z"></path></g></svg></td><td class="align_center"><span style="width: 95.2003ptpx;"><svg height="14.9947pt" id="M85" style="vertical-align:-3.4033pt" version="1.1" viewbox="-0.0498162 -11.5914 95.2003 14.9947" width="95.2003pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z"></path></g><g transform="matrix(.013,0,0,-0.013,6.24,0)"><path 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class="align_left">Initial joint angle <svg height="9.49473pt" id="M86" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 6.59789 9.49473" width="6.59789pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z"></path></g></svg></td><td class="align_center">0 deg</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Parameters of two simulation models.</div>

Applied Bionics and Biomechanics

tab6

Table 6

Table 6: Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot 