Towards a Comparative Measure for Legged Agility
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GRASP
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Electrical and Computer Engineering
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Systems Engineering
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Electrical and Computer Engineering
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Systems Engineering
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This work is supported by the National Science Foundation Graduate Research Fellowship under Grant No. DGE-0822, by the Army Research Laboratory under Cooperative Agreement Number W911NF-10–2−0016, and by the Fonds Quebecois de la Recherche sur la Nature et les Technologies B1 168461.
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We introduce an agility measure enabling the comparison of two very different leaping-from-rest transitions by two comparably powered but morphologically different legged robots. We use the measure to show that a flexible spine outperforms a rigid back in the leaping- from-rest task. The agility measure also sheds light on the source of this benefit: core actuation through a sufficiently powerful parallel elastic actuated spine outperforms a similar power budget applied either only to preload the spine or only to actuate the spine during the leap, as well as a rigid backed configuration of the identical machine.
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2014-06-01
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Departmental Papers (ESE)
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2023-05-17T16:57:03.000
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@book{duperret_specificAgility_2016, author={Duperret,J. M. and Kenneally,G. D. and Pusey,J. L. and Koditschek,D. E.}, year={2016}, title={Towards a comparative measure of legged agility}, series={Springer Tracts in Advanced Robotics}, volume={109}, pages={3-16} }