Robot links are traditionally made of metal. The structural rigidity of the links will depend on factors such as the material used (e.g. aluminum or steel) and the structural design of the link itself. In this project, it is expected to experimentally estimate the vibration modes of the links used in the leg of the quadruped HyQ robot and, subsequently, to analyze their influence on the passivity of leg impedance controllers.
News published in Agência FAPESP Newsletter about the scholarship: