Design Principles for Energy-Efficient Legged Locomotion and Implementation on the MIT Cheetah Robot

@article{Seok2015DesignPF,
  title={Design Principles for Energy-Efficient Legged Locomotion and Implementation on the MIT Cheetah Robot},
  author={Sangok Seok and Albert T. J. Wang and Meng Yee Chuah and Dong Jin Hyun and Jongwoo Lee and David M. Otten and Jeffrey H. Lang and Sangbae Kim},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2015},
  volume={20},
  pages={1117-1129}
}
This paper presents the design principles for highly efficient legged robots, the implementation of the principles in the design of the MIT Cheetah, and the analysis of the high-speed trotting experimental results. The design principles were derived by analyzing three major energy-loss mechanisms in locomotion: heat losses from the actuators, friction losses in transmission, and the interaction losses caused by the interface between the system and the environment. Four design principles that… CONTINUE READING
Highly Cited
This paper has 122 citations. REVIEW CITATIONS

Citations

Publications citing this paper.
Showing 1-10 of 67 extracted citations

Development of a flexible coupled spine mechanism for a small quadruped robot

2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) • 2016
View 7 Excerpts
Highly Influenced

Continuously Controllable Series Clutches for Efficient Robot Actuation

2018 IEEE International Conference on Robotics and Automation (ICRA) • 2018
View 1 Excerpt

Design and Benchtop Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators

2018 IEEE International Conference on Robotics and Automation (ICRA) • 2018
View 2 Excerpts

Design and Simulation of a Low-Inertia Bionic Leg for Quadruped Robots

2018 2nd IEEE Advanced Information Management,Communicates,Electronic and Automation Control Conference (IMCEC) • 2018
View 1 Excerpt

123 Citations

020406020152016201720182019
Citations per Year
Semantic Scholar estimates that this publication has 123 citations based on the available data.

See our FAQ for additional information.

References

Publications referenced by this paper.
Showing 1-10 of 36 references

Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot

2013 IEEE International Conference on Robotics and Automation • 2013
View 1 Excerpt

Actuator design for high force proprioceptive control in fast legged locomotion

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems • 2012
View 4 Excerpts

Design and control of ranger: An energy-efficient, dynamic walking robot

P. Bhounsule, J. Cortell, A. Ruina
Proc. 15th Int. Conf. Climbing Walking Robots Support Technol. Mobile Mach., Jul. 2012, pp. 441–448. • 2012
View 3 Excerpts

Design of a low-mass high-torque brushless motor for application in quadruped robotics

N. Farve
Master’s thesis, Massachusetts Institute of Technology, Cambridge, MA, USA, 2012. • 2012
View 1 Excerpt

Directional Impedance of Geared Transmissions

A. Wang
Master’s thesis, Massachusetts Inst. of Technol., Cambridge, MA, USA, 2012. • 2012
View 2 Excerpts

Embodiment enables the spinal engine in quadruped robot locomotion

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems • 2012
View 1 Excerpt

Parallel stiffness in a bounding quadruped with flexible spine

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems • 2012
View 1 Excerpt

Sep.). Cornell ranger 2011, 4-legged bipedal robot

A. Ruina
http://ruina.tam.cornell.edu/research/topics/ • 2012
View 2 Excerpts

Similar Papers

Loading similar papers…