This paper introduces SpaceBok, a quadrupedal robot created to investigate dynamic legged locomotion for the exploration of low-gravity celestial bodies. With a hip height of 500 mm and a mass of 20 kg, its dimensions are comparable to a medium-sized dog. The robot's leg configuration is based on an optimized parallel motion mechanism that allows the integration of parallel elastic elements to store and release energy for powerful jumping maneuvers. High-torque brushless motors in combination with customized single-stage planetary gear transmissions enable force control at the foot contact points based on motor currents. We present successful walking, trotting, and pronking experiments. Thereby, Spacebok achieved maximal jump heights in single jump experiments of up to 1.05 m (more than twice the hip height) and a walking velocity of 1 m /s. Moreover, simulation results for low gravity on the moon suggest that our robot can move with up to 1.1 m /s at an approximate cost of transport of 1 in moon gravity when using the pronking gait.

No abstract

In many separation processes, filtration performance degrades over time due to retained particles blocking the flow through the filter membrane. A novel bearingless spinfilter extends the long-term performance by self-cleaning effects. The filter rotor is magnetically levitated and actuated by two selfbearing motors inside a hermetically sealed housing, which eliminates the need for bearings and rotary sealings, that both lead to process fluid contamination. Both bearingless motors have integrated electronics and independently control the levitation of the spinfilter rotor. A first prototype is designed and the concept is validated by the separation of a yeast cell culture. Special focus is placed on the internal rotary seal between the feed and filtrate regions, that is inevitably created when the filter membrane is in motion. Any leakage flow through the seal leads to filtrate impurities, which is minimized in this paper with an embedded impeller as a pressure compensation method. A constant filtrate flux of 1750 L h −1 m −2 and a filtrate purity of 75 % was achieved in a first series of tests.