Supplement media for Development of A Quadruped Robot System with Torque-controllable Modular Actuator Unit

Supplement media for Development of A Quadruped Robot System with Torque-controllable Modular Actuator Unit

Citation Author(s):
Yoon Haeng
Lee
Sungkyunkwan University, Korea
Young Hun
Lee
Sungkyunkwan University, Korea
Hyunyong
Lee
Sungkyunkwan University, Korea
Hansol
Kang
Sungkyunkwan University, Korea
Jun Hyuk
Lee
Sungkyunkwan University, Korea
Luong Tin
Phan
Sungkyunkwan University, Korea
Sungmoon
Jin
Sungkyunkwan University, Korea
Yong Bum
Kim
Sungkyunkwan University, Korea
Dong-Yeop
Seok
Sungkyunkwan University, Korea
Seung Yeon
Lee
Sungkyunkwan University, Korea
Hyungpil
Moon
Sungkyunkwan University, Korea
Ja Choon
Koo
Sungkyunkwan University, Korea
Hyouk Ryeol
Choi
Sungkyunkwan University, Korea
Submitted by:
Yoon Haeng Lee
Last updated:
Mon, 08/19/2019 - 11:47
DOI:
10.21227/qnrf-a965
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Abstract: 

This study presents an overview of AiDIN-VI, a force-controllable quadruped robot system that is incorporated the mandatory abilities: speed, efficiency, and mobility to provide real-world services. 

The paper describes design methodologies and principles for implementing the requisite capabilities in a single robot platform, and in particular, the torque sensing method, components, and modularization method of the torque-controllable actuator unit.

The developed robot platform is equipped with all the components that are onboard PCs (for motion generation and vision mapping), battery, modular actuator units, wireless network router, and remote E-stop controller, for autonomous and manual locomotion control.

The performance of the robot is subdivided into joints, legs, and robots, and has been experimentally tested.

The capabilities for joints torque control (+-70 Nm), leg force control (350 N in the z-axis), robot (vertical loading 25 kg, pulling force 200 N) were experimentally treated, and locomotive performances (walk, pace, trot, and jump) in various terrains were also executed.

The maximum trot gait speed of 1.2 m/s, the minimum cost of transport of 1.187 at a speed of 1.0 m/s and 1.15 with loading condition were recorded.

Instructions: 

Paper Title : “Development of A Quadruped Robot System with Torque-controllable Modular Actuator Unit”

 

Multimedia file name : TIE_mid.mp4

 

a. Description

This supplement video includes the performance of a proposed quadruped robot system as follows,

 

0:00performances of leg (joint workspace, trajectory following)

0:27Speed / efficiency #1 (walk)

1:05Speed / efficiency #2 (pace)

1:39Speed / efficiency #3 (trot)

1:54Trot on flat terrain

2:19Trot on irregular terrain

2:54Stair climbing

3:06Button operation and locomotion in building environment

3:29Long distance locomotion

3:49Gripping object by attachment

4:19Loading capacity

4:35Dragging vehicle

 

b. Player Information

The attached multimedia file has the standard mp4 file with H.264. 

All the common video players such as Window media player can run the attached file easily.

 

Dataset Files

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Documentation

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[1] Yoon Haeng Lee, Young Hun Lee, Hyunyong Lee, Hansol Kang, Jun Hyuk Lee, Luong Tin Phan, Sungmoon Jin, Yong Bum Kim, Dong-Yeop Seok, Seung Yeon Lee, Hyungpil Moon, Ja Choon Koo, Hyouk Ryeol Choi, "Supplement media for Development of A Quadruped Robot System with Torque-controllable Modular Actuator Unit", IEEE Dataport, 2019. [Online]. Available: http://dx.doi.org/10.21227/qnrf-a965. Accessed: Mar. 31, 2020.
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doi = {10.21227/qnrf-a965},
url = {http://dx.doi.org/10.21227/qnrf-a965},
author = {Yoon Haeng Lee; Young Hun Lee; Hyunyong Lee; Hansol Kang; Jun Hyuk Lee; Luong Tin Phan; Sungmoon Jin; Yong Bum Kim; Dong-Yeop Seok; Seung Yeon Lee; Hyungpil Moon; Ja Choon Koo; Hyouk Ryeol Choi },
publisher = {IEEE Dataport},
title = {Supplement media for Development of A Quadruped Robot System with Torque-controllable Modular Actuator Unit},
year = {2019} }
TY - DATA
T1 - Supplement media for Development of A Quadruped Robot System with Torque-controllable Modular Actuator Unit
AU - Yoon Haeng Lee; Young Hun Lee; Hyunyong Lee; Hansol Kang; Jun Hyuk Lee; Luong Tin Phan; Sungmoon Jin; Yong Bum Kim; Dong-Yeop Seok; Seung Yeon Lee; Hyungpil Moon; Ja Choon Koo; Hyouk Ryeol Choi
PY - 2019
PB - IEEE Dataport
UR - 10.21227/qnrf-a965
ER -
Yoon Haeng Lee, Young Hun Lee, Hyunyong Lee, Hansol Kang, Jun Hyuk Lee, Luong Tin Phan, Sungmoon Jin, Yong Bum Kim, Dong-Yeop Seok, Seung Yeon Lee, Hyungpil Moon, Ja Choon Koo, Hyouk Ryeol Choi. (2019). Supplement media for Development of A Quadruped Robot System with Torque-controllable Modular Actuator Unit. IEEE Dataport. http://dx.doi.org/10.21227/qnrf-a965
Yoon Haeng Lee, Young Hun Lee, Hyunyong Lee, Hansol Kang, Jun Hyuk Lee, Luong Tin Phan, Sungmoon Jin, Yong Bum Kim, Dong-Yeop Seok, Seung Yeon Lee, Hyungpil Moon, Ja Choon Koo, Hyouk Ryeol Choi, 2019. Supplement media for Development of A Quadruped Robot System with Torque-controllable Modular Actuator Unit. Available at: http://dx.doi.org/10.21227/qnrf-a965.
Yoon Haeng Lee, Young Hun Lee, Hyunyong Lee, Hansol Kang, Jun Hyuk Lee, Luong Tin Phan, Sungmoon Jin, Yong Bum Kim, Dong-Yeop Seok, Seung Yeon Lee, Hyungpil Moon, Ja Choon Koo, Hyouk Ryeol Choi. (2019). "Supplement media for Development of A Quadruped Robot System with Torque-controllable Modular Actuator Unit." Web.
1. Yoon Haeng Lee, Young Hun Lee, Hyunyong Lee, Hansol Kang, Jun Hyuk Lee, Luong Tin Phan, Sungmoon Jin, Yong Bum Kim, Dong-Yeop Seok, Seung Yeon Lee, Hyungpil Moon, Ja Choon Koo, Hyouk Ryeol Choi. Supplement media for Development of A Quadruped Robot System with Torque-controllable Modular Actuator Unit [Internet]. IEEE Dataport; 2019. Available from : http://dx.doi.org/10.21227/qnrf-a965
Yoon Haeng Lee, Young Hun Lee, Hyunyong Lee, Hansol Kang, Jun Hyuk Lee, Luong Tin Phan, Sungmoon Jin, Yong Bum Kim, Dong-Yeop Seok, Seung Yeon Lee, Hyungpil Moon, Ja Choon Koo, Hyouk Ryeol Choi. "Supplement media for Development of A Quadruped Robot System with Torque-controllable Modular Actuator Unit." doi: 10.21227/qnrf-a965