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...

Full description

Bibliographic Details

Published in:	IEEE-RAS International Conference on Humanoid Robots (Print) pp. 1 - 8
Main Authors:	Sim, Youngwoo, Colin, Guillermo, Ramos, Joao
Format:	Conference Proceeding
Language:	English
Published:	IEEE 12.12.2023
Subjects:	Actuators Couplings Design tools Humanoid robots Legged locomotion Rotors Software
ISSN:	2164-0580
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!