Abstract
Legged locomotion involves periodic negative and positive work, which usually results in high power consumption. Improvement of the energy efficency is possible by using energy storage elements to reversibly store the negative work performed during a walking or running cycle. While series elastics with high impedance (high gear ratio) actuators are widely used, we investigate the application of parallel stiffness with highly backdriveable actuators. We specifically show that the use of parallel springs in a bounding quadruped with a flexible spine can lower power consumption by over 50%.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Place of Publication | USA |
| Publisher | IEEE |
| Pages | 2210-2215 |
| Number of pages | 6 |
| ISBN (Print) | 978-1-4673-1737-5 |
| DOIs | |
| Publication status | Published - Oct 2012 |
| Event | IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012 - Vilamoura, Portugal Duration: 7 Oct 2012 → 12 Oct 2012 http://www.iros2012.org/site/ |
Publication series
| Name | |
|---|---|
| Publisher | IEEE Robotics and Automation Society |
| ISSN (Print) | 2153-0858 |
Conference
| Conference | IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012 |
|---|---|
| Abbreviated title | IROS 2012 |
| Country/Territory | Portugal |
| City | Vilamoura |
| Period | 7/10/12 → 12/10/12 |
| Internet address |
Keywords
- Biologically-Inspired Robots
- Dynamics
- Legged Robots
