RESEARCH PAPERS: Design Automation Papers

An Energy Efficient Quadruped with Two-Stage Equilibrator

[+] Author and Article Information
E. Shin

Mechanical Design Department, Korean Atomic Energy Institute, Daejon, Korea 309–606

D. A. Streit

Department of Mechanical Engineering, The Pennsylvania State University, University Park, PA 16802

J. Mech. Des 115(1), 156-163 (Mar 01, 1993) (8 pages) doi:10.1115/1.2919313 History: Received June 01, 1990; Revised August 01, 1990; Online June 02, 2008


A first consideration of the applications of mechanical equilibrators to legged locomotion is presented. Equilibrators are shown to eliminate “geometric work” while allowing simultaneous dual actuation of each leg joint of a quadruped. Gravitational forces on both the vehicle body and legs are decoupled from actuator force/torque requirements. In addition, for slow speeds and when leg kinetic energy is ignored, both joint actuator torques and joint actuator work approach zero. Dynamic simulation demonstrates that proper equilibrator design can reduce peak torque of leg actuators by more than 90 percent and offer a vehicle specific resistance 70 percent smaller than that of tracked vehicles.

Copyright © 1993 by The American Society of Mechanical Engineers
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