Design methodology of linkage morphology for high speed locomotion

Abstract

Current legged robotic platforms' maximum performance is typically defined by power limits, primarily in terms of the limited power density of motors. To simplify the mechanical and electrical design process many designers use the same motors at each joint. However, the leg kinematics also impact the power output, and to maximize the total work done an even work distribution among the motors is beneficial. By examining the work percentage between the actuators for several kinematic configurations and across several gaits, we demonstrate the application of an additional design metric for leg kinematics as well as a dynamically inspired leg design procedure.