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The influence of DC electric drives on sizing quadruped robots

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dc.contributor.author Chatzakos, P en
dc.contributor.author Papadopoulos, E en
dc.date.accessioned 2014-03-01T02:45:49Z
dc.date.available 2014-03-01T02:45:49Z
dc.date.issued 2008 en
dc.identifier.issn 10504729 en
dc.identifier.uri https://dspace.lib.ntua.gr/xmlui/handle/123456789/32407
dc.subject Electric Drive en
dc.subject Electric Motor en
dc.subject Legged Robot en
dc.subject Quadruped Robot en
dc.subject System Design en
dc.subject.other Computer networks en
dc.subject.other Electric machinery en
dc.subject.other Industrial engineering en
dc.subject.other Machine design en
dc.subject.other Magnets en
dc.subject.other Motors en
dc.subject.other Multipurpose robots en
dc.subject.other Robotics en
dc.subject.other Robots en
dc.subject.other Systems analysis en
dc.subject.other International conferences en
dc.subject.other Legged robots en
dc.subject.other Quadruped Robots en
dc.subject.other Electric drives en
dc.title The influence of DC electric drives on sizing quadruped robots en
heal.type conferenceItem en
heal.identifier.primary 10.1109/ROBOT.2008.4543302 en
heal.identifier.secondary http://dx.doi.org/10.1109/ROBOT.2008.4543302 en
heal.identifier.secondary 4543302 en
heal.publicationDate 2008 en
heal.abstract In legged systems design an important question applies to: ""What can be inferred from the performance of a legged robot of a similarly configured system, but scaled to a smaller or larger size?"" Our work attempts to answer this question and set the basis for a systematic approach in sizing legged robots. This paper focuses on the influence of permanent magnet DC electric drives on the size of quadruped running robots. The reason is twofold. First, many of the existing legged machines have used such actuators for propulsion. The second, the performance of electric motors scales differently from torque-speed requirements of legged robots. Specifically, we show that there exists a particularly sized quadruped running robot that is superior according to desired performance criteria, and under the existing technologic limitations and economic restraints. Therefore, valuable information on legged systems design and insight for optimizing the size of a quadruped robot emerges. ©2008 IEEE. en
heal.journalName Proceedings - IEEE International Conference on Robotics and Automation en
dc.identifier.doi 10.1109/ROBOT.2008.4543302 en
dc.identifier.spage 793 en
dc.identifier.epage 798 en


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