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Parallel elastic actuation for efficient large payload locomotion


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Authors

Gunther, F 
Shu, Y 

Abstract

For legged devices, their ability of carrying payload is a necessity for a wide range of tasks. In this paper, we present a new approach of carrying payload by using a parallel elastic mechanism, which is able to carry payloads at least 3 times of its bodyweight. Although the robot has no sensory feedback and consists of only two rigid bodies and one spring loaded joint, it is able to achieve efficient and stable forward hopping for a wide range of attached payload. The presented payload carrier ETH Cargo is based on the further development of our platform CHIARO for the payload range between 0 and 100kg. After parameter optimizing using simulations, a series of real world experiments prove stable and high efficiency hopping of the prototype over a wide range of payloads.

Description

Keywords

4606 Distributed Computing and Systems Software, 46 Information and Computing Sciences, Bioengineering

Journal Title

Proceedings - IEEE International Conference on Robotics and Automation

Conference Name

2015 IEEE International Conference on Robotics and Automation (ICRA)

Journal ISSN

1050-4729

Volume Title

Publisher

IEEE
Sponsorship
This study was supported by the Swiss National Science Foundation Grant No. PP00P2123387/1 and the Swiss National Science Foundation through the National Centre of Competence in Research Robotics.