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

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

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...

Full description

Bibliographic Details
Main Authors: Seok, Sang Ok (Contributor), Chuah, Meng Yee (Contributor), Hyun, Dong Jin (Contributor), Lee, Jongwoo (Contributor), Otten, David M (Contributor), Lang, Jeffrey H (Contributor), Kim, Sangbae (Contributor)
Other Authors: Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor), Massachusetts Institute of Technology. Department of Mechanical Engineering (Contributor), Lang, Jeffrey (Contributor), Wang, Albert D. (Contributor)
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE), 2017-04-13T13:39:58Z.
Subjects:
Article
Online Access:Get fulltext

Internet

Get fulltext

Similar Items