CHARLI: Cognitive Humanoid Autonomous Robot with Learning Intelligence, RoMeLa, Blacksburg, Virginia, USA

[Airicist]

Developer - RoMeLa (https://pr.ai/showthread.php?2936)

[Airicist]

https://youtu.be/gYE8JA7X6wQ

CHARLI-L2 First Walking Test

Uploaded on Jun 28, 2011


The first walking test of Virginia Tech RoMeLa's humanoid robot CHARLI-L2 (Cognitive Humanoid Autonomous Robot with Learning Intelligence - Lightweight 2) on June 2011
* Untethered walking test (onboard power and computing)
* Walking parameters not optimized yet
* Walking forward/backward, turning left/right
* In this video CHARLI-L2 is remote controlled

[Airicist]

https://youtu.be/LMfs7HsDQ4I

CHARLI-2 Stability Test

Published on Mar 4, 2012


CHARLI-2 implements an active stabilization strategy based on sensory feedback as an open loop walking gait can become unstable due to the external perturbations from various sources. CHARLI-2 has 3 sources of sensory feedback: Filtered IMU angles, gyro rate readings and proprioception information based on joint encoders. Stabilizing torques at the ankle joints are applied based on this information, and successful external disturbance rejection is demonstrated in this video.

[Airicist]

https://youtu.be/kmeJvkN4ntI

CHARLI Robot Gangnam Style

Published on Oct 19, 2012


The CHARLI series humanoid robot is developed as a research platform to study bipedal walking and autonomous behaviors for humanoid robots. It is designed to be ultra light weight (under 15 kgs) for safety and low cost. As the next generation of the CHARLI series humanoid robots, CHARLI-2 improves stability and speed in walking, intelligence and autonomy, and soccer playing skills. CHARLI-L2 is also designed to participate in the autonomous robot soccer competition, RoboCup, in the Adult size league.
CHARLI-2 implements an impressive active stabilization strategy based on sensory feedback (filtered IMU angles, gyro rate readings and proprioception information based on joint encoders.) Stabilizing torques at the ankle joints are applied based on this information, and successful ly rejects external disturbances. CHARLI-2 is honored "2011 Best Invention of the Year" by Time magazine, won the Louis Vuitton Best Humanoid Award (a.k.a. Louis Vuitton Cup) at RoboCup 2011, and won First Place in AdultSize league for autonomous soccer at both RoboCup 2011 and RoboCup 2012 among many awards.

[Airicist]

https://youtu.be/Abt6ZjFcrOM

Team CHARLI RoboCup 2011 Champions

Published on May 7, 2018


Louis Vuitton Cup Best Humanoid Award
RoMeLa: Robotics & Mechanisms Laboratory
Dr. Dennis Hong