DocumentCode :
1346496
Title :
Design, control, and energetics of an electrically actuated legged robot
Author :
Gregorio, Pedro ; Ahmadi, Mojtaba ; Buehler, Martin
Author_Institution :
Solutions By Design, Montreal, Que., Canada
Volume :
27
Issue :
4
fYear :
1997
fDate :
8/1/1997 12:00:00 AM
Firstpage :
626
Lastpage :
634
Abstract :
To study the design, control and energetics of autonomous dynamically stable legged machines we have built a planar one-legged robot, the ARL Monopod. Its top running speed of 4.3 km/h (1.2 m/s) makes it the fastest electrically actuated legged robot to date. We adapted Raibert´s control laws for the low power electric actuation necessary for autonomous locomotion and performed a detailed energetic analysis of our experiments. A comparison shows that the ARL Monopod with its 125 W average power consumption is more energy efficient than previously built robots
Keywords :
electric actuators; power consumption; robot dynamics; ARL Monopod; Raibert´s control laws; autonomous dynamically stable legged machines; autonomous locomotion; average power consumption; electrically actuated legged robot; energetic analysis; energetics; low power electric actuation; Control systems; Energy consumption; Energy efficiency; Leg; Legged locomotion; Mobile robots; Performance analysis; Remotely operated vehicles; Robot control; Vehicle dynamics;
fLanguage :
English
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
Publisher :
ieee
ISSN :
1083-4419
Type :
jour
DOI :
10.1109/3477.604106
Filename :
604106
Link To Document :
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