Design and scaling of versatile quadruped robots

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

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 proceeding › Conference contribution

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 language	English
Title of host publication	Adaptive Mobile Robotics - Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012
Editors	A. Z. M. Azad, N. J. Cowan, M. O. Tokhi, G. S. Virk, R. D. Eastman
Publisher	World Scientific Publishing Co. Pte Ltd
Pages	273-280
Number of pages	8
ISBN (Print)	9789814415941
Publication status	Published - 7 Sept 2012
Event	15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012 - Baltimore, MD, United States Duration: 23 Jul 2012 → 26 Jul 2012

Conference

Conference	15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012
Country/Territory	United States
City	Baltimore, MD
Period	23/07/12 → 26/07/12

Keywords

Actuator sizing
Jump
Quadruped robot design
Scaling

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction

Cite this

Semini, C., Khan, H., Frigerio, M., Boaventura, T., Focchi, M., Buchli, J., & Caldwell, D. G. (2012). Design and scaling of versatile quadruped robots. In A. Z. M. Azad, N. J. Cowan, M. O. Tokhi, G. S. Virk, & R. D. Eastman (Eds.), Adaptive Mobile Robotics - Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012 (pp. 273-280). World Scientific Publishing Co. Pte Ltd.

Semini, C. ; Khan, H. ; Frigerio, M. et al. / Design and scaling of versatile quadruped robots. Adaptive Mobile Robotics - Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012. editor / A. Z. M. Azad ; N. J. Cowan ; M. O. Tokhi ; G. S. Virk ; R. D. Eastman. World Scientific Publishing Co. Pte Ltd, 2012. pp. 273-280

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title = "Design and scaling of versatile quadruped robots",

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.",

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author = "C. Semini and H. Khan and M. Frigerio and T. Boaventura and M. Focchi and J. Buchli and Caldwell, {D. G.}",

year = "2012",

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Semini, C, Khan, H, Frigerio, M, Boaventura, T, Focchi, M, Buchli, J & Caldwell, DG 2012, Design and scaling of versatile quadruped robots. in AZM Azad, NJ Cowan, MO Tokhi, GS Virk & RD Eastman (eds), Adaptive Mobile Robotics - Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012. World Scientific Publishing Co. Pte Ltd, pp. 273-280, 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012, Baltimore, MD, United States, 23/07/12.

Design and scaling of versatile quadruped robots. / Semini, C.; Khan, H.; Frigerio, M. et al.
Adaptive Mobile Robotics - Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012. ed. / A. Z. M. Azad; N. J. Cowan; M. O. Tokhi; G. S. Virk; R. D. Eastman. World Scientific Publishing Co. Pte Ltd, 2012. p. 273-280.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - 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.

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Semini C, Khan H, Frigerio M, Boaventura T, Focchi M, Buchli J et al. Design and scaling of versatile quadruped robots. In Azad AZM, Cowan NJ, Tokhi MO, Virk GS, Eastman RD, editors, Adaptive Mobile Robotics - Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012. World Scientific Publishing Co. Pte Ltd. 2012. p. 273-280

Design and scaling of versatile quadruped robots

Abstract

Conference

Keywords

ASJC Scopus subject areas

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