Achieving versatile energy efficiency with the wanderer biped robot

CG Hobart, A Mazumdar, SJ Spencer… - IEEE Transactions …, 2020 - ieeexplore.ieee.org
Legged humanoid robots promise revolutionary mobility and effectiveness in environments
built for humans. However, inefficient use of energy significantly limits their practical
adoption. The humanoid biped walking anthropomorphic novelly-driven efficient robot for
emergency response (WANDERER) achieves versatile, efficient mobility, and high
endurance via novel drive-trains and passive joint mechanisms. Results of a test in which
WANDERER walked for more than 4 h and covered 2.8 km on a treadmill, are presented …

Achieving Versatile Energy Efficiency With the WANDERER Biped Robot.

S Buerger, CG Hobart, SJ Spencer, M Kuehl… - 2020 - osti.gov
… 1Sandia National Laboratories, USA 2Open Source Robotics Foundation, USA 3lnstitute
for Human and Machine Cognition, USA • WANDERER biped demonstrates high endurance,
walking over 4h, 2.8km; also efficient in various locomotive behaviors • Actuator sizes
optimized to minimize 12R losses • Low gear ratios provided through custom synthetic fiber
transmissions; no torque feedback needed … Any subjective views or opinions that might
be expressed in the paper do not necessarily represent the views of the US Department of …
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