Towards a Comparative Measure for Legged Agility

Loading...
Thumbnail Image
Penn collection
Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
Degree type
Discipline
Subject
GRASP
Kodlab
Electrical and Computer Engineering
Engineering
Systems Engineering
Funder
This work is supported by the National Science Foundation Graduate Research Fellowship under Grant No. DGE-0822, by the Army Research Laboratory under Cooperative Agreement Number W911NF-10–2−0016, and by the Fonds Quebecois de la Recherche sur la Nature et les Technologies B1 168461.
Grant number
License
Copyright date
Distributor
Related resources
Author
Kenneally, Gavin
Pusey, Jason
Contributor
Abstract

We introduce an agility measure enabling the comparison of two very different leaping-from-rest transitions by two comparably powered but morphologically different legged robots. We use the measure to show that a flexible spine outperforms a rigid back in the leaping- from-rest task. The agility measure also sheds light on the source of this benefit: core actuation through a sufficiently powerful parallel elastic actuated spine outperforms a similar power budget applied either only to preload the spine or only to actuate the spine during the leap, as well as a rigid backed configuration of the identical machine.

Advisor
Date of presentation
2014-06-01
Conference name
Departmental Papers (ESE)
Conference dates
2023-05-17T16:57:03.000
Conference location
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Volume number
Issue number
Publisher
Publisher DOI
Journal Issue
Comments
Recommended citation
@book{duperret_specificAgility_2016, author={Duperret,J. M. and Kenneally,G. D. and Pusey,J. L. and Koditschek,D. E.}, year={2016}, title={Towards a comparative measure of legged agility}, series={Springer Tracts in Advanced Robotics}, volume={109}, pages={3-16} }
Collection