Towards a Comparative Measure of Legged Agility

Abstract

We introduce an agility measure enabling the comparison of two very different leaping-from-rest transitions by two comparably powered but morphologically different legged robots. We use the measure to show that a flexible spine outperforms a rigid back in the leaping from-rest task. The agility measure also sheds light on the source of this benefit: core actuation through a sufficiently powerful parallel elastic actuated spine outperforms a similar power budget applied either only to preload the spine or only to actuate the spine during the leap, as well as a rigid backed configuration of the identical machine.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Jun 01, 2014
Accession Number
ADA615163

Entities

People

  • Daniel E. Koditschek
  • G. D. Kenneally
  • J. L. Pusey
  • J. M. Duperret

Organizations

  • University of Pennsylvania

Tags

Communities of Interest

  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Actuators
  • Air Resistance
  • Animals
  • Applied Mechanics
  • Biology
  • Biomechanical Phenomena
  • Energy
  • Energy Storage
  • Engineering
  • Maneuvers
  • Mechanical Engineering
  • Motion Capture
  • Potential Energy
  • Robots
  • Steady State
  • Systems Engineering
  • Transitions

Fields of Study

  • Computer science

Readers

  • Neuroscience
  • Robotics and Automation.
  • Systems Analysis and Design

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - DoD AI Strategy
  • Autonomy