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 proceedingChapter

1 Citation (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
PublisherWorld Scientific Publishing
Pages511-518
Number of pages8
ISBN (Electronic)9789814525534
ISBN (Print)9789814525527
DOIs
Publication statusPublished - 1 Jan 2013

Fingerprint

Actuators
Robots
Torque
Trajectories
Experiments

Keywords

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

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 Nature-Inspired Mobile Robotics (pp. 511-518). World Scientific Publishing . https://doi.org/10.1142/9789814525534_0065
Khan, H. ; Semini, C. ; Caldwell, D. G. ; Barasuol, V. / Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots. Nature-Inspired Mobile Robotics. World Scientific Publishing , 2013. pp. 511-518
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Khan, H, Semini, C, Caldwell, DG & Barasuol, V 2013, Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots. in Nature-Inspired Mobile Robotics. World Scientific Publishing , pp. 511-518. https://doi.org/10.1142/9789814525534_0065

Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots. / Khan, H.; Semini, C.; Caldwell, D. G.; Barasuol, V.

Nature-Inspired Mobile Robotics. World Scientific Publishing , 2013. p. 511-518.

Research output: Chapter in Book/Report/Conference proceedingChapter

TY - CHAP

T1 - Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots

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AU - Caldwell, D. G.

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Khan H, Semini C, Caldwell DG, Barasuol V. Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots. In Nature-Inspired Mobile Robotics. World Scientific Publishing . 2013. p. 511-518 https://doi.org/10.1142/9789814525534_0065