Departmental Papers (ESE)


For direct-drive legged robots operating in unstructured environments, workspace volume and force generation are competing, scarce resources. In this paper we demonstrate that introducing geared core actuation (i.e., proximal to rather than distal from the mass center) increases workspace volume and can provide a disproportionate amount of work-producing force to the mass center without affecting leg linkage transparency. These effects are analytically quantifiable up to modest assumptions, and are demonstrated empirically on a spined quadruped performing a leap both on level ground and from an isolated foothold (an archetypal feature of unstructured terrain).

Sponsor Acknowledgements

This work is supported by the National Science Founda- tion under both the Graduate Research Fellowship Grant No. DGE-0822 and CDI-II CABiR (CDI 1028237), as well as by the Army Research Laboratory under Cooperative Agreement Number W911NF-10–2−0016.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

2016 International Symposium on Experimental Robotics

Bib Tex

@inproceedings{duperret_iser_2016, author = {Jeffrey Duperret, Benjamin Kramer, and Daniel E. Koditschek}, title = {Core Actuation Promotes Self-manipulability on a Direct-Drive Quadrupedal Robot}, booktitle = {International Symposium on Experimental Robotics}, month = {October}, year = {2016}, location = {Tokyo, Japan}, note = {In press}, }



Date Posted: 03 April 2017

This document has been peer reviewed.