Table 2 Specification of the leg unit
From: TITAN-XIII: sprawling-type quadruped robot with ability of fast and energy-efficient walking
Weight | 1.2Â kg |
Actator | Nippo Denki: FX1206-011 brushless DC motor (max. output:68W) |
Motor driver | Hibot: 1BLDC power module |
Reduction mechanism for the axis1 | Planetary gear, timing belt |
Reduction mechanism for the axis2, 3 | Planetary gear, spur gear, wire and pulley |
Reduction ratio (each reduction ratio of mechanism) | Motor1: 115 (23.04, 5) |
Motor2: 273 (23.04, 1.4, 8.5) | |
Motor3: 163 (23.04, 1, 7.1) | |
Sensor | Sastinable robotics: 16 bit absolute magnet encoder |
Power weight ratio | 170Â W/kg |