GOAT (Gearless Omni-directional Acceleration-vectoring Topology) leg, San Francisco, California, USA


Introducing GOAT: A Legged Robot with 3D Agility & Virtual Compliance

Published on Jul 28, 2016

I present GOAT, the Gearless Omni-directional Acceleration-vectoring Topology. This video shows preliminary experiments of the GOAT leg on a 1-DoF test-rig demonstrating explosive jumping maneuvers and virtual compliance during landing. GOAT is a novel 3-DoF, 3-RSR, parallel leg topology which uses direct-drive actuators and proprioceptive force sensing to achieve high fidelity virtual compliance.

A link to my thesis which details the design, analysis, and control of this jumping leg will be posted here soon.
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