The rough terrain mobility of legged robots is expected to exceed the perfor- mance of their wheeled or tracked counterparts. To fully take advantage of the legs, such robots need to be versatile by achieving highly dynamic motions at the same time as careful navigation over rough terrain. Highly dynamic robots need to be designed to be fast and strong enough to run and jump. A dynamic robot needs to be light and powerful at the same time. Two requirements that are conicting and therefore have to be traded off. In this work we present a tool that helps quadruped robot designer to better select and size joint actu- ators for various robot sizes. We use the squat jump as characteristic motion of a highly dynamic robot and estimate required joint torque and velocity in relation to maximum jump height, body mass and leg segment length. Copyright © 2012 by World Scientific Publishing Co. Pte. Ltd.
Design and Scaling of Versatile Quadruped Robots / Semini, C; Khan, H; Frigerio, M; Boaventura, T; Focchi, M; Buchli, J; Caldwell, Dg. - (2012), pp. 273-280. ( 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012 International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines 23 – 26 July 2012) [10.1142/9789814415958_0037].
Design and Scaling of Versatile Quadruped Robots
Focchi M;
2012-01-01
Abstract
The rough terrain mobility of legged robots is expected to exceed the perfor- mance of their wheeled or tracked counterparts. To fully take advantage of the legs, such robots need to be versatile by achieving highly dynamic motions at the same time as careful navigation over rough terrain. Highly dynamic robots need to be designed to be fast and strong enough to run and jump. A dynamic robot needs to be light and powerful at the same time. Two requirements that are conicting and therefore have to be traded off. In this work we present a tool that helps quadruped robot designer to better select and size joint actu- ators for various robot sizes. We use the squat jump as characteristic motion of a highly dynamic robot and estimate required joint torque and velocity in relation to maximum jump height, body mass and leg segment length. Copyright © 2012 by World Scientific Publishing Co. Pte. Ltd.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione
