Development of a Quadruped Robot System With Torque-Controllable Modular Actuator Unit
| Autor: | Hyungpil Moon, Hansol Kang, Jun Hyuk Lee, Seung Yeon Lee, Ja Choon Koo, Young Hun Lee, Yoon Lee, Luong Tin Phan, Hyunyong Lee, Hyouk Ryeol Choi, Sungmoon Jin, Yong Bum Kim, Dong-Yeop Seok |
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| Rok vydání: | 2021 |
| Předmět: |
Router
Computer science business.industry 020208 electrical & electronic engineering 02 engineering and technology Modular design Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering Torque Robot Torque sensor Electrical and Electronic Engineering Legged robot Actuator business Simulation |
| Zdroj: | IEEE Transactions on Industrial Electronics. 68:7263-7273 |
| ISSN: | 1557-9948 0278-0046 |
| DOI: | 10.1109/tie.2020.3007084 |
| Popis: | This article presents an overview of A rt i ficial DI gitigrade for N atural Environments (AiDIN-VI), a force-controllable quadruped robot system with incorporated mandatory abilities of speed, efficiency, and mobility for providing real-world services. This article describes the design methodologies and principles employed to implement these requisite capabilities on a single robot platform; particularly, the torque sensing method, along with the components and modularization method of the torque-controllable actuator unit are elucidated herein. The developed robot platform is equipped with all necessary components, including onboard PCs (for motion generation and vision mapping), a battery, modular actuator units, a wireless network router, and a remote e-stop controller for autonomous and manual locomotion control. The robot is subdivided into joints, legs, and robots, and its performance is experimentally tested. The capability of the robot with regard to joint torque control ( $\pm$ 70 Nm), leg force control (350 N along the z -axis), and robot (vertical loading 25 kg, pulling force 200 N) was experimentally verified, and locomotive performances (walk, pace, trot, and jump) on various terrains were executed. A maximum trot gait speed of 1.2 m/s was recorded, along with minimum costs of transport of 1.187 and 1.15 at a speed of 1.0 m/s and under loading conditions, respectively. |
| Databáze: | OpenAIRE |
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