Departmental Papers (ESE)

Image

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.

Sponsor Acknowledgements

This work was supported in part by the ARL/GDRS RCTA project, Coop. Agreement W911NF-1020016 and in part by NSERC (326008481).

Document Type

Journal Article

Subject Area

CPS Embedded Control, GRASP, Kodlab

Date of this Version

2016

Publication Source

IEEE Robotics and Automation Letters

Volume

1

Issue

2

Start Page

900

Last Page

907

DOI

10.1109/LRA.2016.2528294

Comments

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.

Copyright/Permission Statement

Open Access

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

Bib Tex

@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},}

 

Date Posted: 03 May 2016

This document has been peer reviewed.