Sangyoung Woo

Design of KAIST HOUND, a Quadruped Robot Platform for Fast and Efficient Locomotion with Mixed-Integer Nonlinear Optimization of a Gear Train

This paper introduces a design method for an efficient and agile quadruped robot. A mixed-integer optimization formulation including the number of gear teeth is derived to obtain the optimal gear ratio that minimizes cost for a running-trot with the target speed of 3 m/s. With the inclusion of integ…