Files in this item

FilesDescriptionFormat

application/pdf

application/pdf1824.pdf (1MB)
Correct filePDF

Description

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


This item appears in the following Collection(s)

Item Statistics