Design and scaling of versatile quadruped robots

C. Semini, H. Khan, M. Frigerio, T. Boaventura, M. Focchi, J. Buchli, D. G. Caldwell

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

8 Citations (Scopus)

Abstract

The rough terrain mobility of legged robots is expected to exceed the perfor- mance of their wheeled or tracked counterparts. To fully take advantage of the legs, such robots need to be versatile by achieving highly dynamic motions at the same time as careful navigation over rough terrain. Highly dynamic robots need to be designed to be fast and strong enough to run and jump. A dynamic robot needs to be light and powerful at the same time. Two requirements that are conicting and therefore have to be traded off. In this work we present a tool that helps quadruped robot designer to better select and size joint actu- ators for various robot sizes. We use the squat jump as characteristic motion of a highly dynamic robot and estimate required joint torque and velocity in relation to maximum jump height, body mass and leg segment length.

Original languageEnglish
Title of host publicationAdaptive Mobile Robotics - Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012
EditorsA. Z. M. Azad, N. J. Cowan, M. O. Tokhi, G. S. Virk, R. D. Eastman
PublisherWorld Scientific Publishing Co. Pte Ltd
Pages273-280
Number of pages8
ISBN (Print)9789814415941
Publication statusPublished - 7 Sep 2012
Event15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012 - Baltimore, MD, United States
Duration: 23 Jul 201226 Jul 2012

Conference

Conference15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012
CountryUnited States
CityBaltimore, MD
Period23/07/1226/07/12

Keywords

  • Actuator sizing
  • Jump
  • Quadruped robot design
  • Scaling

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