• Kenneally.ICRA2014


Kod*lab Menu



Internal Links (Login Required)



Kinematic Leg Design in an Electromechanical Robot

2014 International Conference on Robotics and Automation, June, 2014.

Gavin Kenneally*, D. E. Koditschek**
*Mechanical Engineering and Applied Mechanics, University of Pennsylvania
**Electrical and Systems Engineering, University of Pennsylvania
Full PDF (preprint)

Abstract
       An unconventional kinematic leg design is synthesized from the reconciliation of three dynamic task specifications, represented as constrained optimization problems derived from energetic first principles. Numerical optimization and judicious decoupling of design parameters suggest that monotonically decreasing effective mechanical advantage with leg extension can yield substantial performance benefits relative to conventional practice.
This work is supported by the Army Research Laboratory under Cooperative Agreement Number W911NF-10–2−0016, and by the Fonds Quebecois de la Recherche sur la Nature et les Technologies B1 168461.
BibTeX entry
@techreport{kenneally_kinematic_2014,
  address = {Workshop article presented at {ICRA} 2014, Hong Kong},
  title = {Kinematic Leg Design in an Electromechanical Robot},
  url = {http://kodlab.seas.upenn.edu/Kenneally/ICRA2014},
  abstract = {An unconventional kinematic leg design is synthesized from the reconciliation of three dynamic task specifications, represented as constrained optimization problems derived from energetic first principles. Numerical optimization and judicious decoupling of design parameters suggest that monotonically decreasing effective mechanical advantage with leg extension can yield substantial performance benefits relative to conventional practice.},
  author = {Kenneally, Gavin and Koditschek, D. E.},
  month = may,
  year = {2014}
}

Copyright Kodlab, 2017