When designing a new legged robot it is important to think about what the robot
has to do. It is not the same a non-stop walking robot than a legged robot which
has to be at the same position much longer than moving.
For the second kind of robot, it could be a great improvement to add a break
in each actuated joint, so it is not necesary to wasted energy during the stoped
time. And not only that, thanks to the brake, it is possible to achive heavier loads
using a speci c walking pattern in which you always place the center of mass on
the three legs that are not moving in that moment (with the brake activated),
while make the next step with the fourth leg.
The most common braking systems are mechanic, whether using an electro-
magnetic brake or some other kind of friction-based brake in addition to any
sort of actuator, e.g., hidraulic, electric, . . . Even though they have been deeply
studied, there are some disadvantage by using mechanic braking systems, i.e., the
high prices and the bad holding torque/weight relation, important aspect for a
This thesis presents a conceptual idea for a braking system based on the
thermodinamic control of Hot Melt Adhesive (HMA), as well as the basic char-
acteristics of this material and a long leg prototype which shows the feasibility
of this concept.
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