Table 3 The technical specifications of Lauron-V [30, 31]
From: Mechanism, Actuation, Perception, and Control of Highly Dynamic Multilegged Robots: A Review
Class | Specifications |
|---|---|
No. of Joints per Leg | 4 (delta, alpha, beta, gamma) |
No. of Head Joints | 2 (pan & tilt) |
Total DOF (active) | 26 |
Compliance | Spring damper in each foot (6 passive DOF) |
Size [footprint] | 0.9 m × 0.8 m |
Height [min–max] | 0.61 m–0.84 m (form ground to PTU head) |
Weight | 40 kg (+ 2 kg for batteries) |
Max Payload | 10 kg |
Power Supply | > 2 h with 2 × 22.2 V 8 Ah (LiPo) |
Power Consumption | Standing: 100 W, Walking 150 W |
On-board PC | Intel Core i7 4 × 3.0 GHz with 8 GB RAM |
Modular Sensors | IR-Camera, Stereo-Camera, RGB-D, Velodyne HDL-32E, Rotating Hokuyo |