In this paper, we introduce the design principles for highly efficient legged robots and the implementation of the principles on the MIT Cheetah robot. Three major energy loss modes during locomotion are heat losses through the actuators, losses through the transmission, and the interaction losses that includes all losses of the system interacting with the environment. We propose four design principles that minimize these losses: employment of high torque density motors, low impedance transmission, energy regenerative electronics and a design architecture that minimizes the leg inertia. We present the design features of the MIT cheetah robot as an embodiment of these principles. The resulting cost of transport (COT) is 0.51 during 2.3 m/s running, which rivals running animals in the same scale.
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机译：在本文中，我们介绍了高效腿式机器人的设计原理以及该原理在MIT猎豹机器人上的实现。运动过程中的三种主要能量损失模式是通过执行器的热量损失，通过变速器的热量损失以及包括系统与环境相互作用的所有损失在内的相互作用损失。我们提出了四个设计原则，以最大程度地减少这些损失：采用高扭矩密度的电动机，低阻抗的传动装置，能量再生电子器件以及使腿部惯性最小的设计架构。我们介绍了MIT猎豹机器人的设计功能，以此作为这些原理的体现。在2.3 m / s的奔跑速度下，由此产生的运输成本（COT）为0.51，可与同等规模的奔跑动物匹敌。
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