Achieving Versatile Energy Efficiency With the WANDERER Biped Robot

Item request has been placed! ×
Item request cannot be made. ×
loading   Processing Request
  • Additional Information
    • Publication Information:
      USA: IEEE
    • Publication Date:
      2020
    • Abstract:
      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. Results of laboratory experiments showing even more efficient walking are also presented and analyzed in this article. WANDERER's energetic performance and endurance are believed to exceed the prior literature in human-scale humanoid robots. This article describes WANDERER, the analytical methods and innovations that enable its design, and system-level energy efficiency results.
    • Author Affiliations:
      Sandia National Laboratories, Albuquerque, NM, USA
      Open Source Robotics Foundation, Mountain View, CA, USA
      Florida Institute for Human and Machine Cognition, Pensacola, FL, USA
    • ISSN:
      1552-3098
      1941-0468
    • Accession Number:
      10.1109/TRO.2020.2969017
    • Rights:
      Copyright 2004-2012, IEEE
    • AMSID:
      9006922
    • Date of Current Version:
      2020
    • Document Subtype:
      IEEE Transaction
    • Sponsored by:
      IEEE Robotics and Automation Society
    • Accession Number:
      edseee.9006922
  • Citations
    • ABNT:
      HOBART, C. G. et al. Achieving Versatile Energy Efficiency With the WANDERER Biped Robot. IEEE Transactions on Robotics, Robotics, IEEE Transactions on, IEEE Trans. Robot, [s. l.], v. 36, n. 3, p. 959–966, 2020. DOI 10.1109/TRO.2020.2969017. Disponível em: http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edseee&AN=edseee.9006922. Acesso em: 25 set. 2020.
    • AMA:
      Hobart CG, Mazumdar A, Spencer SJ, et al. Achieving Versatile Energy Efficiency With the WANDERER Biped Robot. IEEE Transactions on Robotics, Robotics, IEEE Transactions on, IEEE Trans Robot. 2020;36(3):959-966. doi:10.1109/TRO.2020.2969017
    • APA:
      Hobart, C. G., Mazumdar, A., Spencer, S. J., Quigley, M., Smith, J. P., Bertrand, S., Pratt, J., Kuehl, M., & Buerger, S. P. (2020). Achieving Versatile Energy Efficiency With the WANDERER Biped Robot. IEEE Transactions on Robotics, Robotics, IEEE Transactions on, IEEE Trans. Robot, 36(3), 959–966. https://doi.org/10.1109/TRO.2020.2969017
    • Chicago/Turabian: Author-Date:
      Hobart, C.G., A. Mazumdar, S.J. Spencer, M. Quigley, J.P. Smith, S. Bertrand, J. Pratt, M. Kuehl, and S.P. Buerger. 2020. “Achieving Versatile Energy Efficiency With the WANDERER Biped Robot.” IEEE Transactions on Robotics, Robotics, IEEE Transactions on, IEEE Trans. Robot 36 (3): 959–66. doi:10.1109/TRO.2020.2969017.
    • Harvard:
      Hobart, C. G. et al. (2020) ‘Achieving Versatile Energy Efficiency With the WANDERER Biped Robot’, IEEE Transactions on Robotics, Robotics, IEEE Transactions on, IEEE Trans. Robot, 36(3), pp. 959–966. doi: 10.1109/TRO.2020.2969017.
    • Harvard: Australian:
      Hobart, CG, Mazumdar, A, Spencer, SJ, Quigley, M, Smith, JP, Bertrand, S, Pratt, J, Kuehl, M & Buerger, SP 2020, ‘Achieving Versatile Energy Efficiency With the WANDERER Biped Robot’, IEEE Transactions on Robotics, Robotics, IEEE Transactions on, IEEE Trans. Robot, vol. 36, no. 3, pp. 959–966, viewed 25 September 2020, .
    • MLA:
      Hobart, C. G., et al. “Achieving Versatile Energy Efficiency With the WANDERER Biped Robot.” IEEE Transactions on Robotics, Robotics, IEEE Transactions on, IEEE Trans. Robot, vol. 36, no. 3, June 2020, pp. 959–966. EBSCOhost, doi:10.1109/TRO.2020.2969017.
    • Chicago/Turabian: Humanities:
      Hobart, C.G., A. Mazumdar, S.J. Spencer, M. Quigley, J.P. Smith, S. Bertrand, J. Pratt, M. Kuehl, and S.P. Buerger. “Achieving Versatile Energy Efficiency With the WANDERER Biped Robot.” IEEE Transactions on Robotics, Robotics, IEEE Transactions on, IEEE Trans. Robot 36, no. 3 (June 1, 2020): 959–66. doi:10.1109/TRO.2020.2969017.
    • Vancouver/ICMJE:
      Hobart CG, Mazumdar A, Spencer SJ, Quigley M, Smith JP, Bertrand S, et al. Achieving Versatile Energy Efficiency With the WANDERER Biped Robot. IEEE Transactions on Robotics, Robotics, IEEE Transactions on, IEEE Trans Robot [Internet]. 2020 Jun 1 [cited 2020 Sep 25];36(3):959–66. Available from: http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edseee&AN=edseee.9006922