Improving power to weight ratio of pneumatically powered legged robots

McLatchey, Graham and Billingsley, John ORCID: https://orcid.org/0000-0002-7198-5594 (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
Faculty/School / Institute/Centre:	Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering (Up to 30 Jun 2013)
Faculty/School / Institute/Centre:	Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering (Up to 30 Jun 2013)
Date Deposited:	01 Dec 2007 08:14
Last Modified:	02 Jul 2013 22:52
Uncontrolled Keywords:	pneumatic cylinders, legged robots
Fields of Research (2008):	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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