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conference paper not in proceedings
StarlETH: A compliant quadrupedal robot for fast, efficient, and versatile locomotion
2012
This paper introduces StarlETH, a compliant quadrupedal robot that is designed to study fast, efficient, and versatile locomotion. The platform is fully actuated with high compliant series elastic actuation, making the system torque controllable and at the same time well suited for highly dynamic maneuvers. We additionally emphasize key elements of a powerful real time control and simulation environment. The work is concluded with a number of experiments that demonstrate the performance of the presented hardware and controllers.
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Name
Hutter-Siegwart_Starleth__Locomotion_2012.pdf
Access type
openaccess
Size
1.46 MB
Format
Adobe PDF
Checksum (MD5)
2a6b91daf8a4bf9d56ab3c2e82e8e47c