Advanced Modelling Techniques for Flexible Robotic Systems

  • Mariapaola D’Imperio
  • Cristiano Pizzamiglio
  • Daniele Ludovico
  • Darwin G. Caldwell
  • Giancarlo Genta
  • Ferdinando Cannella
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 49)


The purpose of this paper is to present a 3 DoF underactuated mechanism with one flexible component. It is called FLEGX (FLEXible LEG) and it would be the first step in the design of a jumping humanoid robot with flexible limbs. An early system-level design validation of the FLEGX mechanical configuration was performed using the software MSC.Nastran\(^{\circledR }\) and MSC.Adams\(^{\circledR }\)-Matlab/Simulink\(^{\circledR }\) integrated environment.


Flexible robotic leg Multi-body analysis Jumping robot 



The authors want to thank the company “MCS II MOLLIFICIO S.R.L.” for providing free flexible links.


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Mariapaola D’Imperio
    • 1
  • Cristiano Pizzamiglio
    • 2
  • Daniele Ludovico
    • 2
  • Darwin G. Caldwell
    • 1
  • Giancarlo Genta
    • 2
  • Ferdinando Cannella
    • 1
  1. 1.ADVRIstituto Italiano di TecnologiaGenovaItaly
  2. 2.DIMEASPolitecnico di TorinoTorinoItaly

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