NDLI: Toward Combining Speed, Efficiency, Versatility, and Robustness in an Autonomous Quadruped

Content Provider	IEEE Xplore Digital Library
Author	Hutter, M. Gehring, C. Hopflinger, M.A. Blosch, M. Siegwart, R.
Copyright Year	2004
Abstract	This paper provides an overview about StarlETH: a compliant quadrupedal robot that is designed to study fast, efficient, versatile, and robust locomotion. The platform is driven by highly compliant series elastic actuation, which makes the system fully torque controllable, energetically efficient, and well suited for dynamic maneuvers. Using model-based control strategies, this medium dog-sized machine is capable of various gaits ranging from static walking to dynamic running over challenging terrain. StarlETH is equipped with an onboard PC, batteries, and various sensor equipment that enables enduring autonomous operation. In this paper, we provide an overview about the underlying locomotion control algorithms, outline a real-time control and simulation environment, and conclude the work with a number of experiments to demonstrate the performance of the presented hardware and controllers.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	1427
Ending Page	1440
Page Count	14
File Size	996261
File Format	PDF
ISSN	15523098
Volume Number	30
Issue Number	6
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Legged locomotion Robustness Robot sensing systems Torque series elastic actuation Compliant system dynamic locomotion legged robots quadruped robot
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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