Design of series-elastic actuators for dynamic robots with articulated legs

Journal of Mechanisms and Robotics

Volumn 1, Issue 1, 2009, Pages 1-9

  Curran, Simon ^a   Knox, Brian T ^b   Schmiedeler, James P ^a   Orin, David E ^a  

^a OHIO STATE UNIVERSITY   (United States)

^b NONE

Author keywords

Dynamic manuevers; Jump; Legged robot; Series elastic actuator

Indexed keywords

ANALYTICAL MODEL; COMPLEX DYNAMICS; DESIGN PARAMETERS; LEGGED ROBOT; LEGGED ROBOTS; LIFT-OFF VELOCITY; MANUEVERS; MOTOR SPEED; MOTOR TORQUE; OPTIMAL DESIGN; PERFORMANCE BENEFITS; ROBOTIC SYSTEMS; SEA MODEL; SERIES-ELASTIC ACTUATOR;

ACTUATORS; COMPUTER SIMULATION; DC MOTORS; MACHINE DESIGN; MATHEMATICAL MODELS; OPTIMIZATION; ROBOTICS; ROBOTS;

DYNAMIC RESPONSE;

EID: 77955202722     PISSN: 19424302     EISSN: 19424310     Source Type: Journal    
DOI: 10.1115/1.2960535     Document Type: Article

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