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.

本研究概述了AiDIN-VI，一款集成了必要能力的力可控四足机器人系统，包括速度、效率和机动性，以提供现实世界的服务。论文阐述了在单一机器人平台上实现所需功能的设计方法和原则，特别是扭矩可控执行单元的扭矩感应方法、组件以及模块化方法。开发的机器人平台配备了所有板载计算机组件（用于运动生成和视觉映射）、电池、模块化执行单元、无线网络路由器和远程紧急停止控制器，以实现自主和手动运动控制。机器人的性能被细分为关节、腿部和整体机器人，并已进行实验测试。对关节扭矩控制（+-70 Nm）、腿部力控制（z轴350 N）、机器人（垂直负载25 kg，拉力200 N）的能力进行了实验处理，并在各种地形上执行了运动性能（行走、慢跑、小跑和跳跃）。记录了最大小跑步态速度为1.2 m/s，以1.0 m/s的速度运输成本最低为1.187，负载条件下的速度为1.15。