The influence of DC electric drives on sizing quadruped robots

Chatzakos, P; Papadopoulos, E

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