IEEE Robotics and Automation ... > Volume: 1 Issue: 2
Design Principles for a Family of Direct-Drive Legged Robots
Gavin Kenneally
Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA
Avik De
Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA
D. E. Koditschek
Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA
Abstract:
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.
Published in: IEEE Robotics and Automation Letters ( Volume: 1, Issue: 2, July 2016 ), Page(s): 900 - 907, Date of Publication: 11 February 2016
ISSN Information:
INSPEC Accession Number: 15822224
Publisher: IEEE
