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

页码：626 / 634

页数：9

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