Tachyon: Design and Control of High Payload, Robust, and Dynamic Quadruped Robot with Series-Parallel Elastic Actuators

Yasuhisa Kamikawa,Masaya Kinoshita,Noriaki Takasugi,Katsufumi Sugimoto,Toshimitsu Kai,Takashi Kito,Atsushi Sakamoto,Kenichiro Nagasaka,Yasunori Kawanami

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)（2021）

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摘要

This paper introduces a quadruped robot, Tachyon, which aims to achieve high payload, robust, and dynamic locomotion on the various terrain with high energy efficiency. Thanks to a novel compact series-parallel elastic actuator (SPEA) on the upper link and a four-bar linkage design in the knee joint for constant vertical foot force, the 41-kg robot can carry more than 20 kg of payloads with dynami...

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关键词

Legged locomotion,Knee,Torque,Dynamics,Force,Stairs,Energy efficiency

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