Lessons Learned from two iterations of LLAMA, an Electrically Powered, Dynamic Quadruped Robot

This paper presents the design, control, and initial performance from two iterations of human-scale (∼75 kg) quadrupedal robots built under the U.S. Army Research Laboratory (ARL) Robotics Collaborative Technology Alliance (RCTA) LLAMA (Legged Locomotion and Movement Adaptation) project. These all-electric, quadruped robots are designed with custom quasi-directdrive actuators powering 3-DOF, serial-parallel legs. To our knowledge, this is the first all-electric quadruped robot of this mass scale. The centralized energy management system uses a capacitor bank to supply burst loads and buffer regenerated energy. A hierarchical control scheme enables rapid motions (up to 1.8 m/s) over a variety of terrains. The onboard sensing suite enables deliberate, autonomous operation across rubble fields. In addition, we report on practical observations, lessons learned from field testing of two generations of the platform, and current drawbacks, such as low absolute payload (9 kg) and battery life (35 minutes). These lessons include strategies to address secondary effects at larger scales and parameters with the most impact to improve future designs.