Title: STARLETH: A COMPLIANT QUADRUPEDAL ROBOT FOR FAST, EFFICIENT, AND VERSATILE LOCOMOTION
Abstract: Adaptive Mobile Robotics, pp. 483-490 (2012) No AccessSTARLETH: A COMPLIANT QUADRUPEDAL ROBOT FOR FAST, EFFICIENT, AND VERSATILE LOCOMOTIONMARCO HUTTER, CHRISTIAN GEHRING, MICHAEL BLOESCH, MARK A. HOEPFLINGER, C. DAVID REMY and ROLAND SIEGWARTMARCO HUTTERAutonomous Systems Lab, Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology (ETHZ), Zurich, Switzerland, CHRISTIAN GEHRINGAutonomous Systems Lab, Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology (ETHZ), Zurich, Switzerland, MICHAEL BLOESCHAutonomous Systems Lab, Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology (ETHZ), Zurich, Switzerland, MARK A. HOEPFLINGERAutonomous Systems Lab, Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology (ETHZ), Zurich, Switzerland, C. DAVID REMYAutonomous Systems Lab, Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology (ETHZ), Zurich, Switzerland and ROLAND SIEGWARTAutonomous Systems Lab, Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology (ETHZ), Zurich, Switzerlandhttps://doi.org/10.1142/9789814415958_0062Cited by:143 PreviousNext AboutSectionsPDF/EPUB ToolsAdd to favoritesDownload CitationsTrack CitationsRecommend to Library ShareShare onFacebookTwitterLinked InRedditEmail Abstract: This paper introduces StarlETH, a compliant quadrupedal robot that is designed to study fast, efficient, and versatile locomotion. The platform is fully actuated with high compliant series elastic actuation, making the system torque controllable and at the same time well suited for highly dynamic maneuvers. We additionally emphasize key elements of a powerful real time control and simulation environment. The work is concluded with a number of experiments that demonstrate the performance of the presented hardware and controllers. This research was supported by the Swiss National Science Foundation through the National Centre of Competence in Research Robotics, as well as by the Hans Eggenberger Foundation. 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