View Full Version : StarlETH, quadruped robot, Autonomous Systems Lab, Zurich, Switzerland
Airicist
8th October 2015, 01:11
Contributors:
Autonomous Systems Lab (https://pr.ai/showthread.php?2681)
Robotic Systems Lab (https://pr.ai/showthread.php?14086)
Home page - rsl.ethz.ch/robots-media/starleth.html (https://www.rsl.ethz.ch/robots-media/starleth.html)
Airicist
8th October 2015, 01:17
https://youtu.be/Wuc7mL0hkGo
StarlETH 3D trotting on treadmill with obstacles
Published on Aug 24, 2012
Trotting experiments with StarlETH on a treadmill with up to 0.7m/s (2.5km/h) over small obstacles. This quadrupedal robot (24kg, 0.2m segment lenght) is driven by 12 series elastic torque actuators and works with onboard state estimation. An external motion capture system is used to continuously adapt the the treadmill velocity.
Airicist
8th October 2015, 01:18
https://youtu.be/7F6GRFPkdp0
walking and running experiments with the quadruped robot StarlETH
Published on Jan 3, 2013
This movie summarizes some achievements with our quadrupedal robot StarlETH. This machine is driven by 12 high compliant series elastic acutators. The control strategy for these sequences is based on hierarchical task-space inverse dynamics.
Airicist
8th October 2015, 01:18
https://youtu.be/0TwU9A6eZhs
Published on Jun 5, 2013
StarlETH was demonstrated at the IEEE International Conference on Robotics and Automation (ICRA) in Karlsruhe, Germany. StarlETH is a electrically driven quadruped robot able to cope with unperceived obstacles with several centimeters in height. StarlETH is in active development at the Autonomous Systems Lab at ETH Zurich, Switzerland.
Airicist
8th October 2015, 01:25
https://youtu.be/3LDXy5RVAbU
Detection of Slippery Terrain with a Heterogeneous Team of Legged Robots
Published on Feb 15, 2014
This video shows a heterogneous team of legged robots conducting a joint locomotion and perception task. StarlETH, a large and highly capable quadruped uses the VelociRoACH as a remote probe to detect regions of slippery terrain. StarlETH localizes the VelociRoACH using internal state estimation (IMU and leg kinematics) and visual tracking (ARTag). While StarlETH is remote controlled, the position and orientation of the VelociRoACH is feedback controlled to stay at a desired position in front of StarlETH. A Support Vector Machines (SVM) is used to identify slippery regions with the VelociRoACH. The data for the SVM is based on data from both the external observation from StarlETH and the internal sensory data of VelociRoACH. The slippage classifier is able to detect slippery spots with 92% (125/135) accuracy using of only four features from the available data.
See Detection of slippery terrain with a heterogeneous team of legged robots, UC Berkeley and ETH Zurich (https://pr.ai/showthread.php?7001)
Airicist
8th October 2015, 01:27
https://youtu.be/HD56drChqAE
Published on Sep 4, 2015
Airicist
9th October 2015, 22:35
https://youtu.be/IO_sZ6FBAwQ
Quadcopter with Quadruped or Quadruped with Quadcopter:)
Published on Sep 11, 2015
Airicist
29th October 2015, 02:28
https://youtu.be/7qj65Ta7tLE
StarlETH dog robot copes with tough terrain
Published on Oct 28, 2015
The StarlETH quadruped robot can run, walk, and climb over tough terrain autonomously, say its creators. Jim Drury saw the metal, four-legged, beast in action.
Airicist
21st October 2016, 21:15
https://youtu.be/NPuHwxpVUpg
Dynamic trotting on slopes for quadrupedal robots
Published on Oct 21, 2016
Quadrupedal locomotion on sloped terrains poses different challenges than walking in a mostly flat environment. The robot’s configuration needs to be explicitly controlled in order to avoid slipping and kinematic limits. To this end, information about the terrain’s inclination is required for carefully planning footholds, the pose of the main body, and modulation of the ground reaction forces. This is even more important for dynamic trotting, as only two support legs are available to compensate for gravity and drive a desired motion. We propose a reliable method for estimating the parameters of the terrain quadrupedal robots move on, in the face of limited perception capabilities and drifting robot pose estimates. The terrain information that we estimate, namely the pitch and roll angles of the ground plane, is exploited in an extended version of our previous model-based control approach. Our improved control framework enabled StarlETH, a medium-sized, fully autonomous, torque-controllable quadrupedal robot, to trot on slopes of up to 21 degree.
Airicist
1st November 2016, 11:32
https://youtu.be/5Pjm0Ly8Iws
Jump maneuvers with StarlETH
Published on Nov 1, 2016
The jump maneuvers were optimized in simulation and directly replayed on the quadruped robot StarlETH.