2022/02/24 by Karthik Urs, Urs, Karthik, Challen Enninful Adu +5 · 1 citation
Engineering · Medicine · #Cardiomyopathy and Myosin Studies #FOS: Computer and information sciences #Muscle activation and electromyography studies #Robotic Locomotion and Control #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2202.12365
openalex publication_date 2022/02/24 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Robotic systems for legged locomotion -- including legged robots, exoskeletons, and prosthetics -- require actuators with low inertia and high output torque. Traditionally, motors have been selected for these applications by maximizing the motor gap radius. We present alternative metrics for motor selection that are invariant to transmission ratio. The proposed metrics reward minimizing the motor inertia while maximizing the torque and motor constants without special consideration for gap radius, providing a better balance of properties for legged locomotion applications. We rigorously characterize the T-Motor RI50 and demonstrate the use of the metrics by comparing the RI50 to the widely-used T-Motor U8 as a case study.