@inproceedings{4350a4a288cd46ecb54882b0f4bea1d3,
title = "Design and experimental implementation of a quasi-direct-drive leg for optimized jumping",
abstract = "This paper introduces a novel method for actuator design that exploits electromagnetic motors' torque and speed potential in jumping applications. We proposed a nonlinear optimization process that integrates (a) the control design to obtain the optimal ground reaction force, and (b) the mechanical design to narrow down the choices of motor/gearbox pair. Based on this method, actuators were designed and assembled into a leg prototype with two actuated degrees of freedom. Experiments demonstrated that the leg could achieve a maximum vertical jumping height of 0.62 m (2.4 times of leg length) and maximum forward jumping distance of 0.72 m (2.7 times of leg length).",
author = "Yanran Ding and Park, {Hae Won}",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 ; Conference date: 24-09-2017 Through 28-09-2017",
year = "2017",
month = dec,
day = "13",
doi = "10.1109/IROS.2017.8202172",
language = "English (US)",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "300--305",
booktitle = "IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems",
address = "United States",
}