Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots

H. Khan, C. Semini, D. G. Caldwell, V. Barasuol

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

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 languageEnglish
Title of host publicationNature-Inspired Mobile Robotics
Subtitle of host publicationProceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013
EditorsKenneth J. Waldron, Mohammed O. Tokhi, Gurvinder S. Virk
Pages511-518
Number of pages8
ISBN (Electronic)9789814525541
Publication statusPublished - 1 Dec 2013
Event16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013 - Sydney, NSW, Australia
Duration: 14 Jul 201317 Jul 2013

Conference

Conference16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013
CountryAustralia
CitySydney, NSW
Period14/07/1317/07/13

Keywords

  • Actuator sizing
  • Quadruped robot design
  • Running trot
  • Scaling

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  • Cite this

    Khan, H., Semini, C., Caldwell, D. G., & Barasuol, V. (2013). Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots. In K. J. Waldron, M. O. Tokhi, & G. S. Virk (Eds.), Nature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013 (pp. 511-518) https://www.worldscientific.com/doi/pdf/10.1142/9789814525534_0065