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dc.contributor.authorMacedo Rosendo Silva, Andreen
dc.contributor.authorIida, Fumiyaen
dc.date.accessioned2016-05-27T14:25:46Z
dc.date.available2016-05-27T14:25:46Z
dc.date.issued2016-04-12en
dc.identifier.issn1748-3182
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/256111
dc.description.abstractThe intrinsic muscular properties of biological muscles are the main source of stabilization during locomotion, and superior biological performance is obtained with low energy costs. Man-made actuators struggle to reach the same energy efficiency seen in biological muscles. Here, we compare muscle properties within a one-dimensional and a two-segmented hopping leg. Different force– length–velocity relations(constant, linear, and Hill)were adopted for these two proposed models, and the stable maximum hopping heights from both cases were used to estimate the cost of hopping. We then performed a fine-grained analysis during landing and takeoff of the best performing cases, and concluded that the force–velocity Hill-type model is, at maximum hopping height, the most efficient for both linear and segmented models. While hopping at the same height the force–velocity Hill-type relation outperformed the linear relation as well. Finally, knee angles between 60° and 90° presented a lower energy expenditure than other morphologies for both Hill-type and constant relations during maximum hopping height. This work compares different muscular properties in terms of energy efficiency within different geometries, and these results can be applied to decrease energy costs of current actuators and robots during locomotion.
dc.description.sponsorshipRoboSoft—Coordination Action for Soft Robotics
dc.languageEnglishen
dc.language.isoenen
dc.publisherInstitute of Physics
dc.subjectenergy efficiencyen
dc.subjecthoppingen
dc.subjectHill-type muscleen
dc.subjectCoHen
dc.subjectintrinsic muscle propertiesen
dc.titleEnergy efficient hopping with Hill-type muscle properties on segmented legsen
dc.typeArticle
dc.description.versionThis is the author accepted manuscript. The final version is available from the Institute of Physics via http://dx.doi.org/10.1088/1748-3190/11/3/036002en
prism.number036002en
prism.publicationDate2016en
prism.publicationNameBioinspiration & Biomimeticsen
prism.volume11en
dc.identifier.doi10.17863/CAM.50
dcterms.dateAccepted2016-03-23en
rioxxterms.funderSeventh Framework Programmeen
rioxxterms.identifier.projectFP7-ICT-2013-C project no 619319en
rioxxterms.versionofrecord10.1088/1748-3190/11/3/036002en
rioxxterms.versionAMen
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.licenseref.startdate2016-04-12en
dc.contributor.orcidMacedo Rosendo Silva, Andre [0000-0003-4062-5390]
dc.contributor.orcidIida, Fumiya [0000-0001-9246-7190]
dc.identifier.eissn1748-3190
rioxxterms.typeJournal Article/Reviewen
pubs.funder-project-idEC FP7 CP (619319)
rioxxterms.funder.project09ed2678-2020-43c9-955d-3682def2c601en
rioxxterms.freetoread.startdate2017-04-12


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