Development of a QDD Actuator based Robotic Leg
Article No.: 36, Pages 1 - 6
Abstract
There has been a lot of work going on in the area of legged robotics, which involves design, dynamics, control and learning. Still, these robots are not comparable to human-like locomotion. Bionic legged robots have been developed to increase robots’ adaptation to different environments. The level of performance demonstrated by biological systems has yet to be fully realized in a legged robot. This work focuses on development of a 2 degrees of freedom Quadruped robot leg based on quasi direct drive actuator. The leg is attached with the linear slider on a structure to actuate the jumping in a vertical direction. The trajectories of the two motors are generated for achieving a jumping motion. We have successfully executed the jumping motion in the vertical direction with the developed prototype of the leg model.
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Index Terms
- Development of a QDD Actuator based Robotic Leg
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Published In
July 2023
583 pages
ISBN:9781450399807
DOI:10.1145/3610419
Copyright © 2023 ACM.
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Association for Computing Machinery
New York, NY, United States
Publication History
Published: 02 November 2023
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AIR 2023
AIR 2023: Advances In Robotics - 6th International Conference of The Robotics Society
July 5 - 8, 2023
Ropar, India
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Overall Acceptance Rate 69 of 140 submissions, 49%
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