Paper Info
Title
The Usage of Kinematic Singularities to Produce Periodic High-Powered Locomotion
Abstract
Legged robots primarily energize their center of mass through external contact during stance phase. This links their range of possible motions to actuator power limits applied during usually short periods of time. Enabling limb actuators to pump energy into the system during non-contact phases can greatly extend the energetic profile of possible motions. However, funneling this extra energy into u...
Year
DOI
Venue
2021
10.1109/IROS51168.2021.9636062
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Keywords
DocType
ISSN
Couplings,Mechanical sensors,Actuators,Motor drives,Shape,Position control,Kinematics
Conference
2153-0858
ISBN
Citations 
PageRank 
978-1-6654-1714-3
0
0.34
References 
Authors
0
2
Name
Order
Citations
PageRank
Chang Liu100.68
Mark M. Plecnik201.69