DocumentCode
339198
Title
The ARL monopod II running robot: control and energetics
Author
Ahmadi, M. ; Buehler, M.
Author_Institution
Center for Intelligent Machines, McGill Univ., Montreal, Que., Canada
Volume
3
fYear
1999
fDate
1999
Firstpage
1689
Abstract
This paper presents the experimental implementation of an energy efficient “controlled passive dynamic running” strategy on a planar one-legged running robot with hip and leg compliance. We (1997) introduced the approach previously via simulations, and tested via preliminary experiments. The improved version described here permits running speed of up to 4.5 km/h with a total mechanical power expenditure of only 48 W, which translates into a specific resistance of only 0.22. This is the highest efficiency among all actively controlled legged robots
Keywords
legged locomotion; motion control; robot dynamics; velocity control; 4.5 km/h; ARL monopod II robot; controlled passive dynamic running; efficiency; hip compliance; leg compliance; mobile robot; motion control; one legged locomotion; Actuators; Hip; Intelligent robots; Leg; Legged locomotion; Mobile robots; Muscles; Robot control; Springs; World Wide Web;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.770352
Filename
770352
Link To Document