Introducing GOAT: A Quasi-Direct Drive Legged Robot with 3D Agility & Virtual Compliance

I present GOAT, the Gearless Omni-directional Acceleration-vectoring Topology. This video shows preliminary experiments of the GOAT leg on a 1-DoF test-rig demonstrating explosive jumping maneuvers and virtual compliance during landing. GOAT is a novel 3-DoF, 3-RSR, parallel leg topology which uses quasi-direct-drive or direct-drive actuators and proprioceptive force sensing to achieve high fidelity virtual compliance.

My thesis which details the design, analysis, and control of this jumping leg can be found here: http://www.ri.cmu.edu/pub_files/2016/8/kaloucheThesis.pdf

IEEE Spectrum Article: http://spectrum.ieee.org/automaton/robotics/robotics-hardware/goat-robot-leg-demonstrates-explosive-jumping

This work was conducted at The Robotics Institute at Carnegie Mellon University.

Видео Introducing GOAT: A Quasi-Direct Drive Legged Robot with 3D Agility & Virtual Compliance канала Simon Kalouche