DC Field | Value | Language |
---|---|---|
dc.contributor.author | Ding, Yanran | ko |
dc.contributor.author | Park, Hae-Won | ko |
dc.date.accessioned | 2020-03-19T03:33:42Z | - |
dc.date.available | 2020-03-19T03:33:42Z | - |
dc.date.created | 2019-12-20 | - |
dc.date.issued | 2017-09-25 | - |
dc.identifier.citation | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, pp.300 - 305 | - |
dc.identifier.uri | http://hdl.handle.net/10203/272949 | - |
dc.description.abstract | This paper introduces a novel method for actuator design that exploits electromagnetic motors' torque and speed potential in jumping applications. We proposed a nonlinear optimization process that integrates (a) the control design to obtain the optimal ground reaction force, and (b) the mechanical design to narrow down the choices of motor/gearbox pair. Based on this method, actuators were designed and assembled into a leg prototype with two actuated degrees of freedom. Experiments demonstrated that the leg could achieve a maximum vertical jumping height of 0.62 m (2.4 times of leg length) and maximum forward jumping distance of 0.72 m (2.7 times of leg length). | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society (RAS) | - |
dc.title | Design and experimental implementation of a quasi-direct-drive leg for optimized jumping | - |
dc.type | Conference | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 300 | - |
dc.citation.endingpage | 305 | - |
dc.citation.publicationname | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 | - |
dc.identifier.conferencecountry | CN | - |
dc.identifier.conferencelocation | Vancouver, BC | - |
dc.identifier.doi | 10.1109/IROS.2017.8202172 | - |
dc.contributor.localauthor | Park, Hae-Won | - |
dc.contributor.nonIdAuthor | Ding, Yanran | - |
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