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Title: | Design and Experimental Implementation of a Quasi-Direct-Drive Leg for Optimized Jumping |
Author(s): | Ding, Yanran; Park, Hae-Won |
Subject(s): | Robotics
Legged locomotion Design |
Abstract: | This paper introduces a novel method for actuator design that exploits electromagnetic motors’ torque and speed potential in jumping applications. We proposed a nonlinear optimization process that integrates (a) the control design to obtain the optimal ground reaction force, and (b) the mechanical design to narrow down the choices of motor/gearbox pair. Based on this method, actuators were designed and assembled into a leg prototype with two actuated degrees of freedom. Experiments demonstrated that the leg could achieve a maximum vertical jumping height of 0.62 m (2.4 times of leg length) and maximum forward jumping distance of 0.72 m (2.7 times of leg length). |
Issue Date: | 2017 |
Citation Info: | Ding, Yanran and Hae-Won Park, “Design and experimental implementation of a quasi-direct-drive leg for optimized jumping.” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 24-28, 2017, Vancouver, Canada. |
Series/Report: | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
Genre: | Conference Paper / Presentation |
Type: | Text |
Language: | English |
URI: | http://hdl.handle.net/2142/98568 |
Sponsor: | NAVER LABS |
Date Available in IDEALS: | 2017-11-28 |
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Illinois Research and Scholarship (Open Community)
This is the default collection for all research and scholarship developed by faculty, staff or students at the University of Illinois at Urbana-Champaign