Katsufumi Sugimoto

Tachyon: Design and Control of High Payload, Robust, and Dynamic Quadruped Robot with Series-Parallel Elastic Actuators

This paper introduces a quadruped robot, Tachyon, which aims to achieve high payload, robust, and dynamic locomotion on the various terrain with high energy efficiency. Thanks to a novel compact series-parallel elastic actuator (SPEA) on the upper link and a four-bar linkage design in the knee joint…