Claudio Semini, Nikolas Tsagarakis,
Bram Vanderborght, Yousheng Yang, Darwin Caldwell
This paper describes the concept, specifications and design of the biologically inspired quadruped robot HyQ, with special focus on the leg design. The main scope of this new robotic platform is to study highly dynamic tasks such as running and jumping. To meet the specifications in terms of performance and dimensions, hydraulic actuation has been chosen due to its high power to weight ratio and fast response. Guidelines on how to choose the ...