Design of KAIST HOUND, a Quadruped Robot Platform for Fast and Efficient Locomotion with Mixed-Integer Nonlinear Optimization of a Gear Train
Young-Ha Shin,Seungwoo Hong,Sangyoung Woo,JongHun Choe,Harim Son,Gijeong Kim,Joon-Ha Kim,KangKyu Lee,Jemin Hwangbo,Hae-Won Park,Young-Ha Shin,Seungwoo Hong,Sangyoung Woo,JongHun Choe,Harim Son,Gijeong Kim,Joon-Ha Kim,KangKyu Lee,Jemin Hwangbo,Hae-Won Park
This paper introduces a design method for an efficient and agile quadruped robot. A mixed-integer optimization formulation including the number of gear teeth is derived to obtain the optimal gear ratio that minimizes cost for a running-trot with the target speed of 3 m/s. With the inclusion of integer constraints related to the number of gear teeth, detailed design considerations of gear trains ca...
