Actuation: Selecting Motors, Torque Budgets, and Degrees of Freedom for a Walking Robot

Key Points

• The aim is to determine the best actuation strategy for walking robots by analyzing motor selection and torque requirements.
• Evaluated different types of motors for robotic actuation.
• Analyzed torque budgets based on robot design requirements.
• Assessed degrees of freedom needed for effective movement.
• Identified optimal motor types for achieving desired torque.
• Found specific torque budgets essential for efficient walking.
• Determined necessary degrees of freedom to enhance locomotion.