Design principles for energy-efficient legged locomotion and implementation on the MIT Cheetah robot

IEEE/ASME Transactions on Mechatronics

Volumn 20, Issue 3, 2015, Pages 1117-1129

  Seok, Sangok ^a   Wang, Albert ^a   Chuah, Meng Yee ^a   Hyun, Dong Jin ^a   Lee, Jongwoo ^a   Otten, David M ^b   Lang, Jeffrey H ^b   Kim, Sangbae ^a  

^a Massachusetts Institute of Technology   (United States)

^b Department of Electrical Engineering and Computer Science   (United States)

Author keywords

Cost of transport (CoT); Efficiency; Energy regeneration; Legged locomotion; Quadrupeds robot

Indexed keywords

DESIGN; EFFICIENCY; ENERGY DISSIPATION; ENERGY UTILIZATION; FRICTION; HEAT LOSSES; MACHINE DESIGN; ROBOTS;

ELECTRONIC SYSTEMS; ENERGY LOSS MECHANISMS; ENERGY REGENERATION; GEAR TRANSMISSIONS; HIGH TORQUE DENSITY; LEGGED LOCOMOTION; TOTAL ENERGY CONSUMPTION; TOTAL POWER CONSUMPTION;

ENERGY EFFICIENCY;

EID: 85028228812     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2014.2339013     Document Type: Article

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