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Industrial manipulators do not collapse under their own weight when poweredoff due to the friction in their joints. Although these mechanism are effectivefor stiff position control of pick-and-place, they are inappropriate for leggedrobots which must rapidly regulate compliant interactions with the environment.However, no metric exists to quantify the robot's perform degradation due tomechanical losses in the actuators. This letter provides a novel formulationwhich describes how the efficiency of individual actuators propagate to theequations of motion of the whole robot. We quantitatively demonstrate theintuitive fact that the apparent inertia of the robots increase in the presenceof joint friction. We also reproduce the empirical result that robots whichemploy high gearing and low efficiency actuators can statically sustain moresubstantial external loads. We expect that the framework presented here willprovide the foundations to design the next generation of legged robots whichcan effectively interact with the world.

The dynamic effect of mechanical losses of actuators on the equations of motion of legged robots