Tachyon: Design and Control of High Payload, Robust, and Dynamic Quadruped Robot with Series-Parallel Elastic Actuators
Yasuhisa Kamikawa,Masaya Kinoshita,Noriaki Takasugi,Katsufumi Sugimoto,Toshimitsu Kai,Takashi Kito,Atsushi Sakamoto,Kenichiro Nagasaka,Yasunori Kawanami,Yasuhisa Kamikawa,Masaya Kinoshita,Noriaki Takasugi,Katsufumi Sugimoto,Toshimitsu Kai,Takashi Kito,Atsushi Sakamoto,Kenichiro Nagasaka,Yasunori Kawanami
This paper introduces a quadruped robot, Tachyon, which aims to achieve high payload, robust, and dynamic locomotion on the various terrain with high energy efficiency. Thanks to a novel compact series-parallel elastic actuator (SPEA) on the upper link and a four-bar linkage design in the knee joint for constant vertical foot force, the 41-kg robot can carry more than 20 kg of payloads with dynami...
