Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots.

Designing an actuator system for highly dynamic legged robots has been one of the grand challenges in robotics research. Conventional actuators for manufacturing applications have difficulty satisfying design requirements for high-speed locomotion, such as the need for high torque density and the ability to manage dynamic physical interactions. To address this challenge, this paper suggests a prop...