Supplement media for Development of A Quadruped Robot System with Torque-controllable Modular Actuator Unit

This study presents an overview of AiDIN-VI, a force-controllable quadruped robot system that is incorporated the mandatory abilities: speed, efficiency, and mobility to provide real-world services.The paper describes design methodologies and principles for implementing the requisite capabilities in a single robot platform, and in particular, the torque sensing method, components, and modularization method of the torque-controllable actuator unit.The developed robot platform is equipped with all the components that are onboard PCs (for motion generation and vision mapping), battery, modular actuator units, wireless network router, and remote E-stop controller, for autonomous and manual locomotion control.The performance of the robot is subdivided into joints, legs, and robots, and has been experimentally tested.The capabilities for joints torque control (+-70 Nm), leg force control (350 N in the z-axis), robot (vertical loading 25 kg, pulling force 200 N) were experimentally treated, and locomotive performances (walk, pace, trot, and jump) in various terrains were also executed.The maximum trot gait speed of 1.2 m/s, the minimum cost of transport of 1.187 at a speed of 1.0 m/s and 1.15 with loading condition were recorded.

本研究对AiDIN-VI进行了全面概述，该系统是一款力控四足机器人平台，集成了速度、能效与机动性三大核心能力，可面向真实场景提供服务。本文阐述了在单一机器人平台上实现上述必要能力的设计方法与原理，重点介绍了扭矩可控驱动单元的扭矩传感方案、组件构成与模块化设计方法。本研究开发的机器人平台搭载了全套组件：车载上位机（用于运动生成与视觉建图）、电池组、模块化驱动单元、无线路由器以及远程紧急停止控制器，可实现自主与手动两种运动控制模式。该机器人的性能测试分为关节、腿部与整机三个维度，均已通过实验验证。其中，关节扭矩控制（±70 Nm）、腿部力控（Z轴最大350 N）、整机性能（垂直负载25 kg、拉力200 N）相关能力均完成了实验测试；同时该机器人在多种地形下的机动性能（步行、慢步、小跑与跳跃）也得到了验证。测试记录显示，其小跑步态最大速度可达1.2 m/s；在1.0 m/s速度下的最小运输能耗比（Cost of Transport, COT）为1.187，带负载工况下的该值为1.15。

搜集汇总

背景与挑战

背景概述

该数据集包含一个展示四足机器人系统AiDIN-VI性能的MP4视频文件，重点展示其扭矩可控模块化执行器单元在各种地形下的运动能力和负载性能。数据集与相关研究论文配套，提供了机器人设计的实验验证和性能数据。