NDLI: Design of new quadruped robot with SMA actuators for dynamic walking

Content Provider	IEEE Xplore Digital Library
Author	Hyung-Min Son Jun-Bum Gu Se-Hoon Park Yun-Jung Lee Tae-Hyun Nam
Copyright Year	2006
Description	Author affiliation: Sch. of Electr. Eng. & Comput. Sci., Kyungpook Nat. Univ., Taegu (Hyung-Min Son; Jun-Bum Gu; Se-Hoon Park; Yun-Jung Lee)
Abstract	This paper presents a small-sized dynamic walking quadruped robot that uses SMA actuators. Conventional dynamic walking robots have a bulky body and are usually driven by large and heavy electrical motors or hydraulic actuators in order to produce a high output torque. Thus, to resolve this problem, a new SMA actuator is proposed with attractive features, such as a high power density, small size, and light weight. To improve the small ratio of deformation and slow response time of an SMA, the proposed actuator also has a unique winding structure for the SMA wire and reversed gear mechanism. As such, a quadruped robot for dynamic walking is introduced that is equipped with twelve SMA actuators, four 3-DOF leg mechanisms, and a rigid body. The control system for the proposed robot consists of a main control board, PWM generator board, SMA driver board, and sensor interface board
Starting Page	344
Ending Page	348
File Size	5296386
Page Count	5
File Format	PDF
ISBN	8995003847
DOI	10.1109/SICE.2006.315787
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-18
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	The Institute of Control, Automation and Systems
Subject Keyword	Legged locomotion Robot sensing systems Control systems Pulse width modulation Hydraulic actuators Torque Delay Wire Gears Leg running SMA SMA actuator dynamic gait quadruped robot walking robot walking
Content Type	Text
Resource Type	Article

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