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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Institute of Electrical and Electronics Engineers (IEEE)
2019
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| Online Access: | http://hdl.handle.net/1721.1/119863 https://orcid.org/0000-0002-9041-5175 https://orcid.org/0000-0002-0603-9024 https://orcid.org/0000-0003-0313-8243 https://orcid.org/0000-0002-5765-4369 https://orcid.org/0000-0002-0218-6801 |