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