The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Design Principles for a Family of Direct-Drive Legged Robots
Open accessAbstract
This letter introduces Minitaur, a dynamically running and leaping quadruped, which represents a novel class of direct-drive (DD) legged robots. We present a methodology that achieves the well-known benefits of DD robot design (transparency, mechanical robustness/efficiency, high-actuation bandwidth, and increased specific power), affording highly energetic behaviors across our family of machines despite severe limitations in specific force. We quantify DD drivetrain benefits using a variety of metrics, compare our machines' performance to previously reported legged platforms, and speculate on the potential broad-reaching value of “transparency” for legged locomotion.
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Citations
Cites
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Cited by
Soft Actor-Critic Algorithms and Applications
Haarnoja, T., Zhou, A., Hartikainen, K., Tucker, G., Ha, S., Tan, J., Kumar, V., Zhu, H., Gupta, A., Abbeel, P., et al. (2018) · arXiv · doi:10.48550/arxiv.1812.05905 · Cited by 1,994
Sim-to-Real: Learning Agile Locomotion For Quadruped Robots
Tan, J., Zhang, T., Coumans, E., Iscen, A., Bai, Y., Hafner, D., Bohez, S., & Vanhoucke, V. (2018) · Robotics: Science and Systems XIV · doi:10.15607/rss.2018.xiv.010 · Cited by 735
Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control
Katz, B., Carlo, J. D., & Kim, S. (2019) · 2019 International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2019.8793865 · Cited by 544
Learning to Walk Via Deep Reinforcement Learning
Haarnoja, T., Ha, S., Zhou, A., Tan, J., Tucker, G., & Levine, S. (2019) · Robotics: Science and Systems XV · doi:10.15607/rss.2019.xv.011 · Cited by 430
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
Metadata
- Authors
- Kenneally, G., De, A., & Koditschek, D. E.
- Venue
- IEEE Robotics and Automation Letters
- Published
- 2016-07
- Volume
- 1
- Issue
- 2
- Pages
- 900-907
- ISSN
- 2377-3766 (ISSN-L)
- 2377-3774
- OpenAlex
- W2295130897
- Cited by
- 315
- References
- 1
- FWCI
- 14.13
- Type
- journal article
- Language
- en
- Open access
- green
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- Kenneally, G., De, A., & Koditschek, D. E. (2016). Design Principles for a Family of Direct-Drive Legged Robots. IEEE Robotics and Automation Letters. https://doi.org/10.1109/lra.2016.2528294
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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