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Optimal leg design for quadruped robots
The goal of this project is to develop an optimised leg for legged robots.
Keywords: Leg design, System design, Legged robots, Kinematics, Biomimetric Design
Legged robots have demonstrated how versatile, all-terrain locomotion of a robot could look like. However, until now legged systems still fall behind in comparison to their natural counterparts, especially when looking at achievable speeds and energetic efficiency. One reason is the early stage of development of the various subsystems of which the robot consists of. Namely, the kinematic design of the leg is still far from optimal.
Key requirements of the leg design are lightweight but robust design, a large range of motion, and optimality in performing certain repeating load curves. In the scope of this project, a number of alternative leg kinematics, transmission principles and actuator integrations shall be investigated.
An additional focus shall be laid on the optimal actuator arrangement and integration in the design.
Legged robots have demonstrated how versatile, all-terrain locomotion of a robot could look like. However, until now legged systems still fall behind in comparison to their natural counterparts, especially when looking at achievable speeds and energetic efficiency. One reason is the early stage of development of the various subsystems of which the robot consists of. Namely, the kinematic design of the leg is still far from optimal.
Key requirements of the leg design are lightweight but robust design, a large range of motion, and optimality in performing certain repeating load curves. In the scope of this project, a number of alternative leg kinematics, transmission principles and actuator integrations shall be investigated.
An additional focus shall be laid on the optimal actuator arrangement and integration in the design.
- Extensive literature study and requirements definition
- Conceptual design phase
- Detailed design of leg kinematics, power transmission and actuator integration
- Manufacturing and testing of prototype
- Extensive literature study and requirements definition - Conceptual design phase - Detailed design of leg kinematics, power transmission and actuator integration - Manufacturing and testing of prototype
- High motivation and interest in the topic
- Methodological and goal-oriented working behavior
- Good mechanical design skills
- Good "system thinking" skills
- Knowledge of transmissions and linkage design is a useful asset
- High motivation and interest in the topic - Methodological and goal-oriented working behavior - Good mechanical design skills - Good "system thinking" skills - Knowledge of transmissions and linkage design is a useful asset
Please contact Hendrik Kolvenbach(hendrik.kolvenbach@mavt.ethz.ch) for any questions. Your application should include a brief motivational statement, your transcript of records and your CV.
Please contact Hendrik Kolvenbach(hendrik.kolvenbach@mavt.ethz.ch) for any questions. Your application should include a brief motivational statement, your transcript of records and your CV.