Improving power to weight ratio of pneumatically powered legged robots

Paper

McLatchey, Graham and Billingsley, John. 2007. "Improving power to weight ratio of pneumatically powered legged robots." Xie, Ming, Dubowsky, Steven, Fontaine, Jean-Guy, Tokhi, M. Osman and Virk, Gurvinder S. (ed.) 10th International Conference on Climbing and Walking Robots and the Supporting Technologies for Mobile Machines: CLAWAR 2007. Singapore 16 - 18 Jul 2007 Singapore.
Paper/Presentation Title

Improving power to weight ratio of pneumatically powered legged robots

Presentation TypePaper
AuthorsMcLatchey, Graham (Author) and Billingsley, John (Author)
EditorsXie, Ming, Dubowsky, Steven, Fontaine, Jean-Guy, Tokhi, M. Osman and Virk, Gurvinder S.
Journal or Proceedings TitleAdvances in Climbing and Walking Robotics: Proceedings of the 10th International Conference (CLAWAR 2007)
Number of Pages8
Year2007
Place of PublicationSingapore
ISBN9789812708151
Web Address (URL) of Paperhttp://www.clawar.org/clawar2007/
Conference/Event10th International Conference on Climbing and Walking Robots and the Supporting Technologies for Mobile Machines: CLAWAR 2007
Event Details
10th International Conference on Climbing and Walking Robots and the Supporting Technologies for Mobile Machines: CLAWAR 2007
Event Date
16 to end of 18 Jul 2007
Event Location
Singapore
Abstract

Legged Robots require actuators with a high power to weight ratio. Although pneumatic actuators do not perform well in this regard, they have other attractive characteristics which are useful in Legged Robots. This paper describes a mechanical solution for significantly improving the payload capacity of a robot powered with pneumatic cylinders, Robug IV, and reports on the theoretical design and experimental outcomes.

Keywordspneumatic cylinders, legged robots
ANZSRC Field of Research 2020400799. Control engineering, mechatronics and robotics not elsewhere classified
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Byline AffiliationsDepartment of Agricultural, Civil and Environmental Engineering
Department of Mechanical and Mechatronic Engineering
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