Efficiency and effectiveness analysis of a new direct drive miniature quadruped robot

@article{Brown2013EfficiencyAE,
  title={Efficiency and effectiveness analysis of a new direct drive miniature quadruped robot},
  author={Christopher Y. Brown and Dana E. Vogtmann and Sarah Bergbreiter},
  journal={2013 IEEE International Conference on Robotics and Automation},
  year={2013},
  pages={5631-5637}
}
This paper introduces a new, 50g miniature robot (Figure 1 and attached video) that uses four direct-drive hybrid wheel/legs and has been clocked at speeds exceeding 30 body lengths/s. The lowest recorded cost of transport (defined as total energy to move the robot mass a given distance) is 0.90. We discuss hardware considerations for design of robots at this scale, and the benefits of a direct-drive system over coupled transmissions. We develop a simple simulation model to examine the effects… CONTINUE READING

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