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Thread: MARLO, bipedal robot, Control Systems Laboratory, Ann Arbor, Michigan, USA

  1. #11


    MARLO walking in Michigan Robotics Day

    Published on Apr 9, 2016

    MARLO walked around the visitor center at Michigan Robotics Day on April 5, 2016. She demonstrated stepping, walking, turning and responding to perturbations: humans playing "robot ping-pong" with her!

    The control design and implementation are done in the Dynamic Leg Laboratory at the University of Michigan led by Professor Jessy Grizzle. MARLO is one of three ATRIAS 2.1 bipedal robots designed and built by Prof. Jonathan Hurst and the Dynamic Robotics Laboratory at Oregon State University. Unlike most other 3D walking robots, MARLO is walking on very tiny passive feet (i.e., no ankle actuation) and she is not using a camera or anything else to sense the terrain. The self-balance is based on an advanced feedback control system, a dynamics model, and proprioception (joint encoders and an IMU). The navigation is directed by a joystick controller.

  2. #12


    MARLO walking in the snow

    Published on Apr 9, 2016

    The control design and implementation are done in the Dynamic Leg Laboratory at the University of Michigan led by Professor Jessy Grizzle. MARLO is one of three ATRIAS 2.1 bipedal robots designed and built by Prof. Jonathan Hurst and the Dynamic Robotics Laboratory at Oregon State University. Unlike most other 3D walking robots, MARLO is walking on very tiny passive feet (i.e., no ankle actuation) and she is not using a camera or anything else to sense the terrain. The self-balance is based on an advanced feedback control system, a dynamics model, and proprioception (joint encoders and an IMU). The navigation is directed by a joystick controller.

  3. #13


    Outdoor long walk

    Published on Apr 18, 2016

    MARLO had a 260 meters walk in the campus, the maximum slope change is 7 degree. It finally got foot slip on the slope

  4. #14


    Walking and u turn near EECS building

    Published on Apr 18, 2016

  5. #15


    MARLO walking 22 degree down hill

    Published on Apr 28, 2016

    Control Method: Two 2D-Decoupled Controllers and Gait Library; paper to be submitted soon.

    Is this the steepest slope a bipedal robot has walked down? We're not sure, but it does take a pretty good control algorithm to handle it and we have installed some nice ones on MARLO.

    To answer a recent question, MARLO is a she; her name is from Marlo Thomas, a famous actress from an age before YouTube, born in Detroit, Michigan in 1937. This is a little far back for some of you; we get that. If you want the full acronym, it kind of stands for Michigan Anthropomorphic Robot for Locomotion Outdoors. The robot is not so anthropomorphic, we get that too, but we did our best in making a plausible acronym to go along with MARLO. In the beginning, that Locomotion Outdoors part was kind of a pipe dream because she [MARLO] was stumbling a lot. We're getting better!

    The control design and implementation are done in the Dynamic Legged Locomotion Laboratory at the University of Michigan led by Professor Jessy Grizzle. MARLO is one of three ATRIAS 2.1 bipedal robots designed and built by Prof. Jonathan Hurst and the Dynamic Robotics Laboratory at Oregon State University. Unlike most other 3D walking robots, MARLO is walking on very tiny passive feet (i.e., no ankle actuation) and she is not using a camera or anything else to sense the terrain. The self-balance is based on an advanced feedback control system, a dynamics model, and proprioception (joint encoders and an IMU). The navigation is directed by a joystick controller.

  6. #16


    Walking along the edge of the woods

    Published on May 27, 2016

    The gantry is the limiting factor in this video. We use it because if the robot falls and breaks, we have to repair it, replace parts, and such, but mostly because we only have one robot, so we try to take care of it!

    The control design and implementation for MARLO are done in the Dynamic Legged Locomotion Laboratory at the University of Michigan led by Professor Jessy Grizzle. MARLO is one of three ATRIAS 2.1 bipedal robots designed and built by Prof. Jonathan Hurst and the Dynamic Robotics Laboratory at Oregon State University. Unlike most other 3D walking robots, MARLO is walking on very tiny passive feet (i.e., no ankle actuation) and she is not using a camera or anything else to sense the terrain. The self-balance is based on an advanced feedback control system, a dynamics model, and proprioception (joint encoders and an IMU). The navigation is directed by a joystick controller.

  7. #17


    Inside MARLO's Lab | UMengineering Snapchat

    Published on Jun 2, 2016

    Michigan Engineering's bipedal robot, MARLO, is walking better than ever thanks to recent algorithmic balance breakthroughs.

  8. #18


    Kicking MARLO in the name of science

    Published on Jun 21, 2016

    The control design and implementation for MARLO are done in the Dynamic Legged Locomotion Laboratory at the University of Michigan led by Professor Jessy Grizzle. MARLO is one of three ATRIAS 2.1 bipedal robots designed and built by Prof. Jonathan Hurst and the Dynamic Robotics Laboratory at Oregon State University.

    MARLO is walking on prosthetic feet with women's size 7 tennis shoes. There is no actuation at the ankle she is not using a camera or anything else to sense the terrain. The self-balance is based on an advanced feedback control system, a dynamic model, and proprioception (joint encoders and an IMU).

  9. #19


    Initial stroll in the forest

    Published on Jun 21, 2016

    This is our first use of a "human gantry" system! The idea is that we can safely slow the fall of the robot and minimize damage, and yet we can do places where our wheel-based gantry could not go. Because we only have one robot, we have to take care of it.

    The control design and implementation for MARLO are done in the Dynamic Legged Locomotion Laboratory at the University of Michigan led by Professor Jessy Grizzle. MARLO is one of three ATRIAS 2.1 bipedal robots designed and built by Prof. Jonathan Hurst and the Dynamic Robotics Laboratory at Oregon State University.

    MARLO is walking on prosthetic feet with women's size 7 SKIDS tennis shoes. There is no actuation at the ankle. She is not using a camera or anything else to sense the terrain. The self-balance is based on an advanced feedback control system, a dynamic model, and proprioception (joint encoders and an IMU). The navigation is directed by a joystick controller.

  10. #20


    First attempt to the wave field

    Published on Jul 4, 2016

    The Wave Field is an earthen sculpture on the Southeast side of the Francois-Xavier Bagnoud (FXB) Building in University of Micigan. It was designed by and created by Maya Lin. It is truly an artistic treasure and a perfect play ground for bipedal robot. The various humps and valleys challenge robot on lateral and sagittal balance. MARLO will come back with better lateral controller.

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