View Full Version : ALPHRED, Autonomous Legged Personal Helper Robot with Enhanced Dynamics, Robotics & Mechanisms Laboratory (RoMeLa), Virginia Tech, Blacksburg , Virginia, USA
Airicist
30th July 2019, 18:18
Designer - Robotics & Mechanisms Laboratory (RoMeLa) (https://pr.ai/showthread.php?2936)
romela.org/robots (http://www.romela.org/robots)
Airicist
30th July 2019, 18:19
https://youtu.be/5xHtfD_Hewk
ALPHRED2 unofficial
Published on Jul 9, 2019
ALPHRED2: Autonomous Legged Personal Helper Robot with Enhanced Dynamics
Unofficial video of RoMeLa's newest robot ALPHRED2.
ALPHRED2 is a multi-modal locomotion robot that can walk with 4 legs, 2 legs, hop, run, roll, and even use it's limbs for picking up objects or pushing buttons. It is fast (1.5 m/s) and can walk stably on uneven rough terrain. ALPHRED2 is powered by RoMeLa's BEAR (Back-drivable Electromechanical Actuator for Robots) actuators which is compliant and force controlled.
Airicist
30th July 2019, 18:20
https://youtu.be/di0bsv8xec4
ALPHRED2 on casters
Published on Jul 24, 2019
Airicist
30th July 2019, 18:21
https://youtu.be/Pf8XBXvWY38
ALPHRED (IROS 2018)
Published on Jul 24, 2019
ALPHRED: Autonomous Legged Personal Helper Robot with Enhanced Dynamics (IROS 2018)
This paper presents a multi-functioning light weight robotic system, the Autonomous Legged Personal Helper Robot
with Enhanced Dynamics (ALPHRED), capable of both locomtion and manipulation. In addition, we extended a 2D zero moment
point (ZMP) trajectory optimization (TO) algorithm to a 3D implementation. As well as adding the acceleration of the
center of mass to the TO cost in order to smooth out the motion of the robot during trajectories with support
polygons that do not intersect. By implementing this versatile TO algorithm on a multi-modal robotic platform we
showed that many different forms of stable locomotion and manipulation were possible including a dynamic 0.7 m/s trot gait.