IEEE - Institute of Electrical and Electronics Engineers, Inc. - Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots

Author(s): Patrick M. Wensing ; Albert Wang ; Sangok Seok ; David Otten ; Jeffrey Lang ; Sangbae Kim
Sponsor(s): IEEE Robotics and Automation Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Volume: PP
Page(s): 1 - 14
ISSN (Paper): 1552-3098
ISSN (Online): 1941-0468
DOI: 10.1109/TRO.2016.2640183
Regular:

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... View More

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