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Letter a 70-pound cheetah golem designed by MIT researchers may before long outpace its starfish-like counterparts in continual efficiency: in salt mine tests, the researchers have found that the robot — about the sized and weight of an actual Acinonyx jubatus — wastes identical little energy every bit it trots endlessly for up to an hour and a half astatine 5 mph.
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Wensing3, and sangbae kim1 abstract—this paper introduces a new stout, dynamic quadruped, the mit cheetah 3.
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What makes the Cheetah 3 a robust quadruped?
This paper introduces a new robust, dynamic quadruped, the MIT Cheetah 3. Like its predecessor, the Cheetah 3 exploits tailored mechanical design to enable simple control strategies for dynamic locomotion and features high-bandwidth proprioceptive actuators to manage physical interaction with the environment.
How are actuators used in the MIT Cheetah?
The MIT Cheetah design, presented in Section IV, embodies the principles of proprioceptive actuation. By minimizing the overall impedance of the actuator, the design is able to mitigate impacts comparably to existing quadrupeds with series elastic actuators (SEAs), while maintaining high-bandwidth open- loop force control (Section V).
Who are the researchers of the MIT Cheetah?
Patrick M. Wensing1, Albert Wang , Sangok Seok2, David Otten3, Jeffrey Lang3, and Sangbae Kim1 Abstract—Designing an actuator system for highly-dynamic legged robots has been one of the grand challenges in robotics research.
How does the MIT Cheetah's impact control system work?
The design enables the Cheetah to control contact forces during dynamic bounding, with contact times down to 85 ms and peak forces over 450 N. The unique capabilities of the MIT Cheetah, achieving impact-robust force-controlled operation in high-speed 3D running and jumping, suggest wider implementation of this holistic actuation approach.
Last Update: Oct 2021
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Hilyard
26.10.2021 00:09
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It is slower than the boston dynamics Acinonyx jubatus robot, but many efficient.
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