Design and control of a pendulum driven hopping robot

In this paper a new kind of hopping robot has been designed which uses inverse pendulum dynamics to induce bipedal hopping gaits. Its mechanical structure consists of a rigid inverted T-shape mounted on four compliant feet. An upright "T" structure is connected to this by a rotary joint. The horizontal beam of the upright "T" is connected to the vertical beam by a second rotary joint. Using this two degree of freedom mechanical structure, with simple reactive control, the robot is able to perform hopping, walking and running gaits. During walking, it is experimentally shown that the robot can move in a straight line, reverse direction and control its turning radius. The results show that such a simple but versatile robot displays stable locomotion and can be viable for practical applications on uneven terrain.

Links between energy dissipation and wear mechanisms in solid epoxy/epoxy sliding contact

This paper covers wear and energy dissipation of solid epoxy induced by the alternative rubbing between two samples of identical thermosetting polymer. Varying normal load, sliding velocity and sliding distance, the authors were able to define and discuss wear and friction laws and associated energy dissipation. Moreover, traces of several wear mechanisms were distinguished on the worn surfaces and associated with applied conditions. Observed under higher velocity, polymer softening and local state transition were explained by surface temperature estimate and confirmed by infra-red spectroscopy measurements. To conclude this study, all observed phenomena are classified into two wear scenarios according to sliding velocity. © 2014 Elsevier Ltd.