Design, control, and energetics of an electrically actuated legged robot

被引：141
作者：
Gregorio, P [1 ]
Ahmadi, M [1 ]
Buehler, M [1 ]
机构：
[1] MCGILL UNIV, CTR INTELLIGENT MACHINES, MONTREAL, PQ H3A 2A7, CANADA
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS | 1997年 / 27卷 / 04期
基金：
加拿大自然科学与工程研究理事会;
关键词：
D O I：
10.1109/3477.604106
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 1.3 km/h (1.2 mis) 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.
引用
收藏
页码：626 / 634
页数：9
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