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Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot
Abstract
In this paper, we introduce the design principles for highly efficient legged robots and the implementation of the principles on the MIT Cheetah robot. Three major energy loss modes during locomotion are heat losses through the actuators, losses through the transmission, and the interaction losses that includes all losses of the system interacting with the environment. We propose four design principles that minimize these losses: employment of high torque density motors, low impedance transmission, energy regenerative electronics and a design architecture that minimizes the leg inertia. We present the design features of the MIT cheetah robot as an embodiment of these principles. The resulting cost of transport (COT) is 0.51 during 2.3 m/s running, which rivals running animals in the same scale.
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Cited by
Learning agile and dynamic motor skills for legged robots
Hwangbo, J., Lee, J., Dosovitskiy, A., Bellicoso, D., Tsounis, V., Koltun, V., & Hutter, M. (2019) · Science Robotics · doi:10.1126/scirobotics.aau5872 · Cited by 1,482
ANYmal - a highly mobile and dynamic quadrupedal robot
Hutter, M., Gehring, C., Jud, D., Lauber, A., Bellicoso, C. D., Tsounis, V., Hwangbo, J., Bodie, K., Fankhauser, P., Bloesch, M., et al. (2016) · 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2016.7758092 · Cited by 969
ANYmal - toward legged robots for harsh environments
Hutter, M., Gehring, C., Lauber, A., Gunther, F., Bellicoso, C. D., Tsounis, V., Fankhauser, P., Diethelm, R., Bachmann, S., Bloesch, M., et al. (2017) · Advanced Robotics · doi:10.1080/01691864.2017.1378591 · Cited by 341
Ba, K.-X., Ma, G.-L., Yu, B., Jin, Z.-G., Huang, Z.-P., Zhang, J.-X., & Kong, X.-D. (2020) · International Journal of Control, Automation and Systems · doi:10.1007/s12555-019-0151-0 · Cited by 47
Sim-to-real: Six-legged Robot Control with Deep Reinforcement Learning and Curriculum Learning
Qin, B., Gao, Y., & Bai, Y. (2019) · 2019 4th International Conference on Robotics and Automation Engineering (ICRAE) · doi:10.1109/icrae48301.2019.9043822 · Cited by 18
Metadata
- Authors
- Seok, S., Wang, A., Chuah, M. Y., Otten, D., Lang, J., & Kim, S.
- Venue
- 2013 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2013-05
- Pages
- 3307-3312
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W1979445726
- Cited by
- 439
- References
- 0
- FWCI
- 60.05
- Type
- conference paper
- Language
- en
- Open access
- closed
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- The paper
- Seok, S., Wang, A., Chuah, M. Y., Otten, D., Lang, J., & Kim, S. (2013). Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot. 2013 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/icra.2013.6631038
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
