DASH: A Dynamic 16g Hexapedal Robot

被引：212

作者：

Birkmeyer, P. ^{[1
]}

Peterson, K. ^{[1
]}

Fearing, R. S. ^{[1
]}

机构：

[1] Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA

来源：

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年

关键词：

LEGGED LOCOMOTION;

D O I：

10.1109/IROS.2009.5354561

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

DASH is a small, lightweight, power autonomous robot capable of running at speeds up to 15 body lengths per second (see video). Drawing inspiration from biomechanics, DASH has a sprawled posture and uses an alternating tripod gait to achieve dynamic open-loop horizontal locomotion. The kinematic design which uses only a single drive motor and allows for a high power density is presented. The design is implemented using a scaled Smart Composite Manufacturing (SCM) process. Evidence is given that DASH runs with a gait that can be characterized using the spring-loaded inverted pendulum (SUP) model. In addition to being fast, DASH is also well suited to surviving falls from large heights, due to the uniquely compliant nature of its structure.

引用

页码：2683 / 2689

页数：7

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