Abstract
It is challenging to design a quadruped robot that can perform highly dynamic tasks like jumping and running. Estimating appropriate range of joint torques and velocities is essential for the selection of the leg actuators. Jumping and running are considered as extreme tasks that push the actuators to their limits. In this paper we proposed a simple method that allows a quadruped robot designer to obtain approximate peak joint torques and joint velocities needed for a running trot at various forward velocities and squat jumps at different heights. A SLIP model is used for the mapping of CoM trajectory of a quadruped robot during a running tort. Experiments for a squat jump and running trot are performed with the highly dynamic quadruped robot HyQ for the validation of the proposed approaches. A case study is also discussed to demonstrate the usage of proposed tool.
| Original language | English |
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| Title of host publication | Nature-Inspired Mobile Robotics |
| Subtitle of host publication | Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013 |
| Editors | Kenneth J. Waldron, Mohammed O. Tokhi, Gurvinder S. Virk |
| Pages | 511-518 |
| Number of pages | 8 |
| ISBN (Electronic) | 9789814525541 |
| Publication status | Published - 1 Dec 2013 |
| Event | 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013 - Sydney, NSW, Australia Duration: 14 Jul 2013 → 17 Jul 2013 |
Conference
| Conference | 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013 |
|---|---|
| Country/Territory | Australia |
| City | Sydney, NSW |
| Period | 14/07/13 → 17/07/13 |
Keywords
- Actuator sizing
- Quadruped robot design
- Running trot
- Scaling
ASJC Scopus subject areas
- Artificial Intelligence
- Human-Computer Interaction