Control- & Task-Aware Optimal Design of Actuation System for Legged Robots Using Binary Integer Linear Programming

Athletic robots demand a whole-body actuation system design that utilizes motors up to the boundaries of their performance. However, creating such robots poses challenges of integrating design principles and reasoning of practical design choices. This paper presents a design framework that guides de...

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Veröffentlicht in:	IEEE-RAS International Conference on Humanoid Robots (Print) S. 1 - 8
Hauptverfasser:	Sim, Youngwoo, Colin, Guillermo, Ramos, Joao
Format:	Tagungsbericht
Sprache:	Englisch
Veröffentlicht:	IEEE 12.12.2023
Schlagworte:	Actuators Couplings Design tools Humanoid robots Legged locomotion Rotors Software
ISSN:	2164-0580
Online-Zugang:	Volltext
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