ACTUATOR SIZING FOR HIGHLY-DYNAMIC QUADRUPED ROBOTS BASED ON SQUAT JUMPS AND RUNNING TROTS

摘要

It is challenging to design a quadruped robot that can perform highly dynamic tasks like jumping and running. Estimating appropriate range of joint torques and velocities is essential for the selection of the leg actuators. Jumping and running are considered as extreme tasks that push the actuators to their limits. In this paper we proposed a simple method that allows a quadruped robot designer to obtain approximate peak joint torques and joint velocities needed for a running trot at various forward velocities and squat jumps at different heights. A SLIP model is used for the mapping of CoM trajectory of a quadruped robot during a running tort. Experiments for a squat jump and running trot are performed with the highly dynamic quadruped robot HyQ for the validation of the proposed approaches. A case study is also discussed to demonstrate the usage of proposed tool.