Parallel stiffness in a bounding quadruped robot with flexible spine

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    52 Citations (Scopus)
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    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 languageEnglish
    Title of host publicationProceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages2210-2215
    Number of pages6
    ISBN (Print)978-1-4673-1737-5
    DOIs
    Publication statusPublished - Oct 2012
    EventIEEE/RSJ International Conference on Robotics and Intelligent Systems 2012 - Vilamoura, Portugal
    Duration: 7 Oct 201212 Oct 2012
    http://www.iros2012.org/site/

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society
    ISSN (Print)2153-0858

    Conference

    ConferenceIEEE/RSJ International Conference on Robotics and Intelligent Systems 2012
    Abbreviated titleIROS 2012
    CountryPortugal
    CityVilamoura
    Period7/10/1212/10/12
    Internet address

    Keywords

    • Biologically-Inspired Robots
    • Dynamics
    • Legged Robots

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