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Over the recent few decades, the evolving research-field of legged robotics has seen various mechanical and control-based developments. Inspired by biological species, a significant adaptation in modern mechanical leg designs has been the implementation of adjustable stiffness, shifting from what were previously simple linkages to more-complex variable stiffness actuators. Physiological studies previously demonstrated leg-stiffness modulation was not only a common trait in multiple biological locomotors, but also played a key role in disturbance recovery for humans. Guided by this, recent robo...

The group of active suspensions with controllable actuating force is noted with their excellent performance in reducing vibrations, however, their demanding requirements for high power consumption and high cost as well as the highly potential instability issue have hindered their practical usage. Semi-active suspensions with controllable stiffness or damping are simple, stable and cost-efficient, but they cannot provide equivalent performance with active suspensions. By incorporating the negative stiffness mechanism into the semi-active suspension using a magnetorheological (MR) damper, this p...

Abstract This paper presents a smart passive MR damper with fast-responsive characteristics for impact mitigation. The hybrid powering system of the MR damper, composed of batteries and self-powering component, enables the damping of the MR damper to be negatively proportional to the impact velocity, which is called rate-dependent softening effect. This effect can keep the damping force as the maximum allowable constant force under different impact speed and thus improve the efficiency of the shock energy mitigation. The structure, prototype and working principle of the new MR damper are pres...