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.

Report Date:

2014-06-01

Pagination or Media Count:

15.0

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