Accession Number : ADA615163


Title :   Towards a Comparative Measure of Legged Agility


Descriptive Note : Conference paper


Corporate Author : PENNSYLVANIA UNIV PHILADELPHIA DEPT OF ELECTRICAL AND SYSTEMS ENGINEERING


Personal Author(s) : Duperret, J M ; Kenneally, G D ; Pusey, J L ; Koditschek, D E


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a615163.pdf


Report Date : Jun 2014


Pagination or Media Count : 15


Abstract : We introduce an agility measure enabling the comparison of two very different leaping-from-rest transitions by two comparably powered but morphologically different legged robots. We use the measure to show that a flexible spine outperforms a rigid back in the leaping from-rest task. The agility measure also sheds light on the source of this benefit: core actuation through a sufficiently powerful parallel elastic actuated spine outperforms a similar power budget applied either only to preload the spine or only to actuate the spine during the leap, as well as a rigid backed configuration of the identical machine.


Descriptors :   *ROBOTS , LOCOMOTION , METRIC SYSTEM , MOBILITY


Subject Categories : Bionics


Distribution Statement : APPROVED FOR PUBLIC RELEASE