Abstract This study presents the design and system integration of the 13-degree-of-freedom legged platform, GAZELLE. The goal of this research is to develop a fast and reliable biped platform for walking experiments. Rapid leg movement can increase robustness in walking stability. During external push or walking on uneven ground, fast leg movement can realize an abrupt change on the landing position. GAZELLE is characterized by a lightweight design, a link-driven structure for low leg inertia, a wide range of motion, and a direct-stacked fin air-cooling module. The actuator is designed using a special type of harmonic drive (lightweight CSF type) and a 200 W brushless DC motor with high power density. The knee and ankle joints are link-driven; hence, the actuators can be placed on the upper position, and the leg inertia is reduced. A novel air cooler design for the cylinder-type motor, which is extremely light and highly efficient, is introduced herein and realized by stacking cooling fins to the motor housing. This study also includes a brief introduction of a stabilizing controller and the walking experiment results of GAZELLE.

中文翻译：

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快速腿式平台GAZELLE的设计与控制

摘要 本研究介绍了 13 自由度腿式平台 GAZELLE 的设计和系统集成。这项研究的目标是为步行实验开发一个快速可靠的两足动物平台。快速的腿部运动可以增加行走稳定性的稳健性。外推或在不平坦的地面行走时，快速的腿部运动可以实现着陆位置的突然变化。GAZELLE的特点是轻量化设计，低腿惯性连杆驱动结构，运动范围大，直接堆叠式翅片风冷模块。执行器采用特殊类型的谐波驱动（轻量级CSF型）和200 W高功率密度无刷直流电机设计。膝关节和踝关节是连杆驱动的；因此，可以将执行器置于上部位置，减少腿部惯性。本文介绍了一种新型的气缸式电机空气冷却器设计，该设计非常轻便且高效，并通过将散热片堆叠到电机外壳上来实现。本研究还包括对稳定控制器的简要介绍和 GAZELLE 的步行实验结果。