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1 STARLETH: A COMPLIANT QUADRUPEDAL ROBOT FOR FAST, EFFICIENT, AND VERSATILE LOCOMOTION ∗

By Marco Hutter, Christian Gehring, Michael Bloesch, Mark A, C. David Remy and Roland Siegwart

Abstract

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

Topics: compliant quadruped, legged locomotion, torque control, SEA
Year: 2013
OAI identifier: oai:CiteSeerX.psu:10.1.1.352.3097
Provided by: CiteSeerX
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