Title :
FastRunner: A fast, efficient and robust bipedal robot. Concept and planar simulation
Author :
Cotton, Sebastien ; Olaru, Ionut Mihai Constantin ; Bellman, Matthew ; Van der Ven, Tim ; Godowski, Johnny ; Pratt, Jerry
Author_Institution :
BioInspired Robotic Lab., Inst. for Human & Machine Cognition, Pensacola, FL, USA
Abstract :
Bipedal robots are currently either slow, energetically inefficient and/or require a lot of control to maintain their stability. This paper introduces the FastRunner, a bipedal robot based on a new leg architecture. Simulation results of a Planar FastRunner demonstrate that legged robots can run fast, be energy efficient and inherently stable. The simulated FastRunner has a cost of transport of 1.4 and requires only a local feedback of the hip position to reach 35.4 kph from stop in simulation.
Keywords :
feedback; legged locomotion; robust control; legged robots; local feedback; new leg architecture; planar FastRunner; planar simulation; robust bipedal robot; stability; Hip; Joints; Knee; Legged locomotion; Springs; Suspensions;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6225250
