Tachyon: Design and Control of High Payload, Robust, and Dynamic Quadruped Robot with Series-Parallel Elastic ActuatorsView Publication
This paper introduces a quadruped robot, Tachyon, which aims to achieve high payload, robust, and dynamic locomotion on the various terrain with high energy efficiency. Thanks to a novel compact series-parallel elastic actuator (SPEA) on the upper link and a four-bar linkage design in the knee joint for constant vertical foot force, the 41-kg robot can carry more than 20 kg of payloads with dynamic walking. The combination of a robust horizontal CoM stabilizer and SPEA joint torque controller provides low impedance force controllability of the whole-body even when only the knee joint can accurately detect its joint torque. The major performance of Tachyon is demonstrated by carrying a 20-kg rice bag—half of its body weight—and climbing stairs with dynamic locomotion. When the robot climbs the stairs, the SPEA parallel spring improves energy efficiency by 16% and is also effective for various other gaits. The robustness of the robot is also shown by its high flexibility and fall avoidance capability when an unknown disturbance of 400 N or more is applied.
Related PublicationsView All
Theoretical Derivation and Realization of Adaptive Grasping Based on Rotational Incipient Slip Detection
Tetsuya Narita, Satoko Nagakari, William Conus, Toshimitsu Tsuboi, Kenichiro NagasakaManipulating objects whose physical properties are unknown remains one of the greatest challenges in robotics. […]
3D-CNN Based Heuristic Guided Task-Space Planner for Faster Motion Planning
Ryo Terasawa, Yuka Ariki, Takuya Narihira, Toshimitsu Tsuboi, Kenichiro NagasakaMotion planning is important in a wide variety of applications such as robotic manipulation. However, it is st […]