Design Principles for a Family of Direct-Drive Legged Robots

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Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
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CPS Embedded Control
GRASP
Kodlab
legged locomotion
DD drivetrain
DD legged robots
DD robot design
direct-drive legged robots
legged locomotion
legged platforms
potential broad-reaching value
Actuators
Couplings
Force
Kinematics
Legged locomotion
Torque
Mechanism Design of Mobile Robots
Multilegged Robots
Novel Actuators for Natural Machine Motion
Applied Mechanics
Electrical and Computer Engineering
Electro-Mechanical Systems
Engineering
Systems Engineering
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This work was supported in part by the ARL/GDRS RCTA project, Coop. Agreement W911NF-1020016 and in part by NSERC (326008481).
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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. For more information: Kod*lab.

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2016-01-01
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IEEE Robotics and Automation Letters
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G. Kenneally, A. De and D. E. Koditschek, "Design Principles for a Family of Direct-Drive Legged Robots," in IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 900-907, July 2016.
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@ARTICLE{7403902, author={G. Kenneally and A. De and D. E. Koditschek}, journal={IEEE Robotics and Automation Letters}, title={Design Principles for a Family of Direct-Drive Legged Robots}, year={2016}, volume={1}, number={2}, pages={900-907}, keywords={legged locomotion;DD drivetrain;DD legged robots;DD robot design;direct-drive legged robots;legged locomotion;legged platforms;potential broad-reaching value;Actuators;Couplings;Force;Kinematics;Legged locomotion;Torque;Mechanism Design of Mobile Robots;Multilegged Robots;Novel Actuators for Natural Machine Motion}, doi={10.1109/LRA.2016.2528294}, ISSN={2377-3766}, month={July},}
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