Design, control, and energetics of an electrically actuated legged robot

Authors:
P. Gregorio;M. Ahmadi;M. Buehler
Affiliations:
Solutions By Design, Montreal, Que.;-;-
Venue:
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Year:
1997

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Abstract

To study the design, control and energetics of autonomous dynamically stable legged machines we have built a planar one-legged robot, the ARL Monopod. Its top running speed of 4.3 km/h (1.2 m/s) makes it the fastest electrically actuated legged robot to date. We adapted Raibert's control laws for the low power electric actuation necessary for autonomous locomotion and performed a detailed energetic analysis of our experiments. A comparison shows that the ARL Monopod with its 125 W average power consumption is more energy efficient than previously built robots