Publication

Quadrupedal robots with stiff and compliant actuation

Roland Siegwart
2012
Journal Articles

Abstract

In the broader context of quadrupedal locomotion, this overview article introduces and compares two platforms that are similar in structure, size, and morphology, yet differ greatly in their concept of actuation. The first, ALoF, is a classically stiff actuated robot that is controlled kinematically, while the second, StarlETH, uses a soft actuation scheme based on highly compliant series elastic actuators. We show how this conceptual difference influences design and control of the robots, compare the hardware of the two systems, and show exemplary their advantages in different applications. © Oldenbourg Wissenschaftsverlag.

Official source

https://infoscience.epfl.ch/entities/publication/cdcc4bef-7827-418d-ae33-af2eb96160e4

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Roland Siegwart
2012
Journal Articles

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/cdcc4bef-7827-418d-ae33-af2eb96160e4

About this result

Related concepts (20)

Robot locomotion

Robot locomotion is the collective name for the various methods that robots use to transport themselves from place to place. Wheeled robots are typically quite energy efficient and simple to control. However, other forms of locomotion may be more appropriate for a number of reasons, for example traversing rough terrain, as well as moving and interacting in human environments. Furthermore, studying bipedal and insect-like robots may beneficially impact on biomechanics.

Legged robot

Legged robots are a type of mobile robot which use articulated limbs, such as leg mechanisms, to provide locomotion. They are more versatile than wheeled robots and can traverse many different terrains, though these advantages require increased complexity and power consumption. Legged robots often imitate legged animals, such as humans or insects, in an example of biomimicry. Legged robots, or walking machines, are designed for locomotion on rough terrain and require control of leg actuators to maintain balance, sensors to determine foot placement and planning algorithms to determine the direction and speed of movement.

Quadrupedalism

Quadrupedalism is a form of locomotion where four limbs are used to bear weight and move around. An animal or machine that usually maintains a four-legged posture and moves using all four limbs is said to be a quadruped (from Latin quattuor for "four", and pes, pedis for "foot"). Quadruped animals are found among both vertebrates and invertebrates. Although the words ‘quadruped’ and ‘tetrapod’ are both derived from terms meaning ‘four-footed’, they have distinct meanings.

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