Design and Characterization of 3D Printed, Open-Source Actuators for Legged Locomotion
Karthik Urs,Challen Enninful Adu,Elliott J. Rouse,Talia Y. Moore,Karthik Urs,Challen Enninful Adu,Elliott J. Rouse,Talia Y. Moore
Impressive animal locomotion capabilities are mediated by the co-evolution of the skeletal morphology and muscular properties. Legged robot performance would also likely benefit from the co-optimization of actuators and leg morphology. However, development of custom actuators for legged robots is expensive and time consuming, discouraging application-specific actuator optimization. This paper pres...
