Optimal Actuator In MIT's Cheetah Robot

From Biomimetics MIT Cheetah project:

The high speed legged locomotion of the MIT Cheetah requires high accelerations and loadings of the robot’s legs.  Because of the highly dynamic environmental interactions that come with running, variable impedance of the legs is desirable; however, existing actuation strategies cannot deliver.  Typically, electric motors achieve their required torque output and package size through high gear ratios.  High ratios limit options for control strategies.  For example, closed loop control is limited to relatively slow speed dynamics.  Series elastic actuation adds additional actuators and increases system complexity and inertia.  We believed a better option existed.  In the end, we developed a novel actuator, optimal in many applications... (project homepage) (full published article)

Comments (0)

This post does not have any comments. Be the first to leave a comment below.


Post A Comment

You must be logged in before you can post a comment. Login now.

Featured Product

Stäubli TX2-60 Industrial Robot

Stäubli TX2-60 Industrial Robot

TX2 robots: redefining performance by offering collaborative safety and high performance in a single machine. These pioneering robots can be used in all areas, including sensitive and restrictive environments, thanks to their unique features. Safety functions are easy and inexpensive to implement. They allow a higher level of interactions between robots and human operators, while still guaranteeing protection of your people, production and investment.