ATRIAS - a human size compliant bipedal robot walks efficiently
نویسندگان
چکیده
Robot Hardware The bipedal robot ATRIAS has been developed for efficient and versatile locomotion. Its design was inspired by the spring-mass model, which has been proposed as a template for hopping, running and walking [1, 2]. The 60kg robot walks on two legs of 0.9m maximum length which are driven by two motors each, sharing the load of extending and rotating the leg. A carbon-fiber leaf spring connects the motor output to the leg, allowing to control the applied leg force. Each leg can be abducted by an additional motor [3].
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