Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots

Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots

Designing an actuator system for highly dynamic legged robots has been one of the grand challenges in robotics research. Conventional actuators for manufacturing applications have difficulty satisfying design requirements for high-speed locomotion, such as the need for high torque density and the ab...

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Bibliographic Details
Main Authors: Seok, Sangok (Author), Wensing, Patrick M. (Contributor), Wang, Albert D (Contributor), Otten, David M (Contributor), Lang, Jeffrey H (Contributor), Kim, Sangbae (Contributor)
Other Authors: Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor), Massachusetts Institute of Technology. Department of Mechanical Engineering (Contributor), Massachusetts Institute of Technology. Research Laboratory of Electronics (Contributor)
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE), 2019-01-04T19:56:06Z.
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