Novel test bench for robotic leg characterization

Ilya Brodoline (1, 2) , Stéphane Viollet (1, 3) , Julien Serres (1, 2)

1 ISM - Institut des Sciences du Mouvement Etienne Jules Marey
2 AMU - Aix Marseille Université
3 CNRS - Centre National de la Recherche Scientifique

How to evaluate and compare the performances of a robot’s leg with one and a same test bench? A unique test bench structure was designed and built. Like procedures used to evaluate human walk specific aspects, or test benches built to study insects’ locomotion, our test bench merges the commonly used structures in a one and a same setup, allowing to assess characteristics of the locomotion. The tested leg, attached to a vertical moving stage, walks on a 3D printed treadmill simulating the ground movement, according to three scenarios: 1) walking leg on a free treadmill (Giving an estimation of the locomotion characteristics), 2) walking leg on a resistive treadmill (Giving an estimation of the locomotion forces), 3) weight lifting (Giving an estimation of the structure resistance, leg maximal load and temperature).

Mots clés: hexapod; locomotion; Bio-inspired robotics; Biorobotics; Biomimicry; Ants; cost-effective platform

Domaines: Automatique / Robotique

Ilya Brodoline, Stéphane Viollet, Julien Serres. Novel test bench for robotic leg characterization. Computer Methods in Biomechanics and Biomedical Engineering, 2021, ABSTRACTS 46ème Congrès Société Biomécanique, 24 (S1), pp.S267-S268. ⟨10.1080/10255842.2021.1978758⟩. ⟨hal-03464001⟩