Robohub.org
 

High-speed walkers pretend to go downhill

by
03 February 2011



share this:

The typical way to make a bipedal robot walk is to actuate its leg joints, strap a bunch of sensors to measure its state and add a tight control loop to make sure it is performing the desired steps.

In a radically different approach, passive dynamic walkers can step down slopes without the need for sensing, control or energy. Their driving force comes from gravitation pushing them down the hill. If well designed, and started with adequate initial conditions, the walker will reach a rhythmic and stable walking gait that prevents it from falling on its nose.

Of course, always walking downhill is hardly a viable solution. To make robots walk on level ground, Dong et al. propose to trick the robot into thinking it’s walking on a slope. This is done by extending the back leg of the robot (stance leg) while shortening its front leg (swing leg) before it hits the ground as shown in the figure below (steps I through IV).

The authors propose an analytical model to predict the energy efficiency and speed of the walker based on easy to tune parameters. The result is an energy efficient walker that can move at high speeds. To validate their model, experiments were done on the real walker below. The robot was able to top at a full 1.12 m/s speed, or 4.48leg/s, which is the fastest walking gate demonstrated so far. The leg length was changed by bending and unbending the knee joints.




Sabine Hauert is President of Robohub and Associate Professor at the Bristol Robotics Laboratory
Sabine Hauert is President of Robohub and Associate Professor at the Bristol Robotics Laboratory





Related posts :



Congratulations to the #ICRA2024 best paper winners

The winners and finalists in the different categories have been announced.
20 May 2024, by

Robot Talk Episode 85 – Margarita Chli

In the latest episode of the Robot Talk podcast, Claire chatted to Margarita Chli from the University of Cyprus all about vision, navigation, and small aerial drones.
17 May 2024, by

What’s coming up at #ICRA2024?

Find out what's on the programme at the IEEE International Conference on Robotics and Automation.
10 May 2024, by

Octopus inspires new suction mechanism for robots

Suction cup grasping a stone - Image credit: Tianqi Yue The team, based at Bristol Robotics Laboratory, studied the structures of octopus biological suckers,  which have superb adaptive s...
18 April 2024, by

Open Robotics Launches the Open Source Robotics Alliance

The Open Source Robotics Foundation (OSRF) is pleased to announce the creation of the Open Source Robotics Alliance (OSRA), a new initiative to strengthen the governance of our open-source robotics so...

Robot Talk Episode 77 – Patricia Shaw

In the latest episode of the Robot Talk podcast, Claire chatted to Patricia Shaw from Aberystwyth University all about home assistance robots, and robot learning and development.
18 March 2024, by





Robohub is supported by:




Would you like to learn how to tell impactful stories about your robot or AI system?


scicomm
training the next generation of science communicators in robotics & AI


©2024 - Association for the Understanding of Artificial Intelligence


 












©2021 - ROBOTS Association