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 :



Hot Robotics Symposium celebrates UK success

An internationally leading robotics initiative that enables academia and industry to find innovative solutions to real world challenges, celebrated its success with a Hot Robotics Symposium hosted across three UK regions last week.
25 June 2022, by

Researchers release open-source photorealistic simulator for autonomous driving

MIT scientists unveil the first open-source simulation engine capable of constructing realistic environments for deployable training and testing of autonomous vehicles.
22 June 2022, by

In this episode, Audrow Nash speaks to Maria Telleria, who is a co-founder and the CTO of Canvas. Canvas makes a drywall finishing robot and is based in the Bay Area. In this interview, Maria talks ab...
21 June 2022, by and

Coffee with a Researcher (#ICRA2022)

As part of her role as one of the IEEE ICRA 2022 Science Communication Awardees, Avie Ravendran sat down virtually with a few researchers from academia and industry attending the conference.

Seeing the robots at #ICRA2022 through the eyes of a robot

Accessbility@ICRA2022 and OhmniLabs provided three OhmniBots for the conference, allowing students, faculty and interested industry members to attend the expo and poster sessions.
17 June 2022, by

Communicating innovation: What can we do better?

The question on what role communications play in forming the perception of innovative technology was discussed in this workshop. Experts explained how the innovation uptake should be supported by effective communication of innovations: explaining the benefits, tackling risks and fears of the audiences, and taking innovation closer to the general public.
15 June 2022, by





©2021 - ROBOTS Association


 












©2021 - ROBOTS Association