期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 1, 期 2, 页码 900-907出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2016.2528294
关键词
Multilegged Robots; Mechanism Design of Mobile Robots; Novel Actuators for Natural Machine Motion
类别
资金
- NSERC [326008481]
- ARL/GDRS RCTA project [W911NF-1020016]
- U.S. Army Research Laboratory [W911NF-10-2-0016]
- National Science and Engineering Research Council of Canada [352093]
This letter introduces Minitaur, a dynamically running and leaping quadruped, which represents a novel class of direct-drive (DD) legged robots. We present a methodology that achieves the well-known benefits of DD robot design (transparency, mechanical robustness/efficiency, high-actuation bandwidth, and increased specific power), affording highly energetic behaviors across our family of machines despite severe limitations in specific force. We quantify DD drivetrain benefits using a variety of metrics, compare our machines' performance to previously reported legged platforms, and speculate on the potential broad-reaching value of transparency for legged locomotion.
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