@inproceedings{09464c55ac444c6bb24a1e9ce80151d8,
title = "Design of new quadruped robot with SMA actuators for dynamic walking",
abstract = "This paper presents a small-sized dynmaic walking quadruped robot that uses SMA actuators. Conventional dynamic walking robots have a bulky body and are usually driven by large and heavy electrical motors or hydraulic actuators in order to produce a high output torque. Thus, to resolve this problem, a new SMA actuator is proposed with attractive features, such as a high power density, small size, and light weight. To improve the small ratio of deformation and slow response time of an SMA, the proposed actuator also has a unique winding structure for the SMA wire and reversed gear mechanism. As such, a quadruped robot for dynamic walking is introduced that is equipped with twelve SMA actuators, four 3-DOF leg mechanisms, and a rigid body. The control system for the proposed robot consists of a main control board, PWM generator board, SMA driver board, and sensor interface board.",
keywords = "Dynamic gait, Quadruped robot, Running, SMA, SMA actuator, Walking, Walking robot",
author = "Son, {Hyung Min} and Gu, {Jim Bum} and Park, {Se Hoon} and Lee, {Yun Jung} and Nam, {Tae Hyun}",
year = "2006",
doi = "10.1109/SICE.2006.315787",
language = "English",
isbn = "8995003855",
series = "2006 SICE-ICASE International Joint Conference",
pages = "344--348",
booktitle = "2006 SICE-ICASE International Joint Conference",
note = "2006 SICE-ICASE International Joint Conference ; Conference date: 18-10-2006 Through 21-10-2006",
}