High speed legged locomotion involves high acceleration and extensive loadings of the leg, which impose critical challenges in actuator design. We introduce actuator dimensional analysis for maximizing torque density and transmission 'transparency'. A front leg prototype developed based on insight from the analysis is evaluated for direct proprioceptive force control without force sensors. The vertical stiffness controlled leg was tested on a material testing device to calibrate the mechanical impedance of the leg. By compensating transmission impedance from commanded torque, the leg was able to estimate impact force. For the impact test, the mean absolute error as a ratio of full scale sensor force is 0.041 in the 3406 N/m stiffness experiment and is 0.049 in the 5038 N/m experiment. The results indicate that prescribed force profile control is possible during high speed locomotion.
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机译：高速腿运动涉及腿部的高加速度和广泛的载荷，这在执行器设计中施加了关键挑战。 我们引入了最大化扭矩密度和变速器“透明度”的执行器尺寸分析。 基于分析洞察力开发的前腿原型，用于直接的预壁图力控制，无需力传感器。 在材料测试装置上测试垂直刚度控制腿以校准腿的机械阻抗。 通过补偿来自命令扭矩的传输阻抗，腿能够估计冲击力。 对于冲击试验，平均绝对误差为满量程传感器力的比率为0.041，在3406 n / m刚度实验中，在5038 n / m实验中为0.049。 结果表明，在高速运动期间可以进行规定的力曲线控制。
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