Improving power to weight ratio of pneumatically powered legged robots

McLatchey, Graham and Billingsley, John (2007) Improving power to weight ratio of pneumatically powered legged robots. In: 10th International Conference on Climbing and Walking Robots and the Supporting Technologies for Mobile Machines: CLAWAR 2007, 16-18 July 2007, Singapore.

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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.


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Item Type: Conference or Workshop Item (Commonwealth Reporting Category E) (Paper)
Refereed: Yes
Item Status: Live Archive
Additional Information: This is the authors' version of a paper in a refereed conference. It is now printed as a chapter in an internationally published hard-back book: ADVANCES IN CLIMBING AND WALKING ROBOTS: Proceedings of the 10th International Conference (CLAWAR 2007) © World Scientific Publishing Company. http://www.worldscibooks.com/compsci/6521.html
Depositing User: Mr Graham McLatchey
Faculty / Department / School: Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering
Date Deposited: 01 Dec 2007 08:14
Last Modified: 02 Jul 2013 22:52
Uncontrolled Keywords: pneumatic cylinders, legged robots
Fields of Research (FOR2008): 09 Engineering > 0906 Electrical and Electronic Engineering > 090602 Control Systems, Robotics and Automation
09 Engineering > 0913 Mechanical Engineering > 091302 Automation and Control Engineering
URI: http://eprints.usq.edu.au/id/eprint/3408

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