Smallest point foot biped breaks own record
Published on Jul 10, 2015
With additional improvements to the calibration, sensing and control systems, the Hume biped gets the most stable dynamic balancing sequence to date.
Hume Point-Foot Biped Dynamically Balances on Smallest Feet
Published on Jun 27, 2015
Using Phase Space Locomotion Planning and Whole-Body Operational Space Control, Hume becomes the point-foot biped robot with the smallest feet able to balance unsupported. This research has been sponsored by the US Office of Naval Research
Step by step guidelines point foot unsupported walking
Published on Jul 24, 2015
PhD student Donghyun Kim, presents a clear explanation on whole-body control and simple motion planning to stabilize bipeds with point feet. This presentation was delivered as part of Dynamic Walking 2015 in Columbus, Ohio.
Mobility around humans with Mercury
Published on Sep 11, 2018
This video shows a human-size bipedal robot, dubbed Mercury, which has passive ankles, thus relying solely on hip and knee actuation for balance. Unlike humans, having passive ankles forces Mercury to gain balance by continuously stepping. This capability is not only very difficult to accomplish but enables the robot to rapidly respond to disturbances like those produced when walking around humans. To achieve this capability, Mercury relies on an advanced inertial state estimation process and feedback control systems. The walking controller is based on whole-body control theory which enables precise trajectory tracking using the robot’s series elastic actuators. This means that the control methods of Mercury can be ported to many other humanoid robots with different morphologies and actuator setups. Finally, Mercury is a partial rebuild of the former Meka Hume biped, now including an Apptronik Medulla and Axon embedded nervous system. The legs have been partially redesigned and built to increase stiffness and incorporate the passive ankles. This research has been conducted at the Human Centered Robotics Lab at UT Austin.
Mercury walks in rough terrain and in all directions
Published on Jan 24, 2019
Whole-body control (WBC) is a generic task-oriented control method for feedback control of loco-manipulation behaviors in humanoid robots. For this set of experiments, we devise a new WBC, dubbed whole-body locomotion controller (WBLC), that can achieve experimental dynamic walking on unsupported passive-ankle biped robots. A key aspect of WBLC is the relaxation of contact constraints such that the control commands produce reduced jerk when switching foot contacts. To achieve robust dynamic locomotion, we conduct an in-depth analysis of uncertainty for our dynamic walking algorithm called time-to-velocity-reversal (TVR) planner. The uncertainty study is fundamental as it allows us to improve the control algorithms and mechanical structure of our robot to fulfill the tolerated uncertainty. In addition, we conduct extensive experimentation for unsupported dynamic walking, unsupported directional walking, and unsupported walking over an irregular and slippery terrain.
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