Actively Variable Transmission Robotic Leg
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Author / Producer
Date
2024
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
Quadrupedal robots consume large amounts of energy while walking or standing, limiting their range and operation time. Moreover, their design involves multiple trade-offs between conflicting requirements, reducing their flexibility and suitability for certain applications despite their advantages in rough and unknown environments. One of the root causes of this situation is the mismatch between the limited capabilities of the actuators and the wide range of requirements for these robots. This work introduces an actively variable transmission design intended to adjust the robot's characteristics according to its current mission requirements, resulting in more efficient power usage and longer operational times. We designed and built a single-leg prototype and tested it. Experimental results show a decrease of up to 50% in the power consumption of the knee actuator, confirming the theoretical analysis.
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Publication status
published
External links
Book title
Synergetic Cooperation between Robots and Humans
Journal / series
Volume
811
Pages / Article No.
40 - 51
Publisher
Springer
Event
26th International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2023)
Edition / version
1st Edition
Methods
Software
Geographic location
Date collected
Date created
Subject
Legged robot; Actuator design; Actively variable transmission