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Thread: Cassie, bipedal robot, Dynamic Robotics Laboratory, Corvallis, Oregon, USA

  1. #21


    Bipedal Robot in Wildfire Awareness Report, Action News Now, Chico-Redding, California

    Published on May 24, 2018

    Video posted with permission:
    Spencer Joseph, Reporter
    Lorraine Dechter, Assignment Desk/Producer
    Action News Now, Chico-Redding, CA

    Cassie Blue is walking with control laws developed at Michigan in this publication: Da, X., Harib, O., Hartley, R., Griffin, B., & Grizzle, J. W. (2016). From 2D design of underactuated bipedal gaits to 3D implementation: Walking with speed tracking. IEEE Access, 4, 3469-3478.

    Cassie was built by Agility Robotics. The robot's purchase was enabled by funding from NSF Inspire Grant ECCS-1343720 and Toyota Research Institute (TRI). The work on the control law was funded by NSF Grant NRI-1525006.

  2. #22


    Trolling Agility Robotics (or, We Love Your Bipedal Robot!)

    Published on May 24, 2018

    We have been working toward a principled approach to stair climbing when we saw Agility Robotics tweet on 25 May 2018 involving their Cassie walking on platforms. We could not resist posting what we have so far as well. Keep building those awesome robots!

    Cassie Blue is walking with control laws developed at Michigan in this publication: Da, X., Harib, O., Hartley, R., Griffin, B., & Grizzle, J. W. (2016). From 2D design of underactuated bipedal gaits to 3D implementation: Walking with speed tracking. IEEE Access, 4, 3469-3478.

    Cassie was built by Agility Robotics. The robot's purchase was enabled by funding from NSF Inspire Grant ECCS-1343720 and Toyota Research Institute (TRI). The work on the control law was funded by NSF Grant NRI-1525006.

  3. #23


    Bipedal Robot Cassie Blue's Clutzy Operators and a Segway: Bloopers

    Published on May 25, 2018

    Operator Error #1: Gantry hit the sidewalk and stopped, pulling Cassie Blue off the Segway.

    Operator Error #2: Bruce thought we could go through the wall in some quantum mechanics trick!

    Controller Error #3: Bad interactions between the Segway's control loop and Cassie Blue's controller. That is called instability!

    Controller Error #4: See above!

    Operator Error #5: Yukai commanded too big of a lean!

    Segway Error #6: The Segway hit its internal speed limit and leaned backward to slow down without asking permission first from Cassie Blue, the rider. That was a really bad idea!

    Cassie Blue is operating with control laws developed at Michigan in this publication: Da, X., Harib, O., Hartley, R., Griffin, B., & Grizzle, J. W. (2016). From 2D design of underactuated bipedal gaits to 3D implementation: Walking with speed tracking. IEEE Access, 4, 3469-3478.

    Cassie was built by Agility Robotics. The robot's purchase was enabled by funding from NSF Inspire Grant ECCS-1343720 and Toyota Research Institute (TRI). The work on the control law was funded by NSF Grant NRI-1525006.

  4. #24


    Cassie vs scattered boards

    Published on Jun 15, 2018

    Cassie is an efficient, compliant, dynamic bipedal robot. Here in the Dynamic Robotics Lab directed by Dr. Jonathan Hurst we are researching control strategies that exploit the robot's natural dynamics. The controller here is demonstrating robust blind walking over unperceived disturbances.

    Funded by
    DARPA Award WN911NF-16-1-0002
    National Science Foundation Graduate Research Fellowship Grant No. 1314109-DGE

    Thanks to Agility Robotics for designing and producing Cassie.

  5. #25


    Feedback control of a Cassie bipedal robot: walking, standing, and riding a Segway

    Published on Sep 20, 2018

  6. #26


    Bipedal Robot Cassie Blue and Maize vs the Polar Vortex!

    Published on Jan 30, 2019

    30 January 2019: We wanted to see how long Cassie could operate during the "polar vortex" that has shutdown the campus! Well, she did one hour and two minutes of continuous operation at -22 C (-8 F).

  7. #27


    Cassie: dynamic planning on stairs

    Published on Feb 20, 2019

    This video shows the progression of increasingly complex gait strategies from ATRIAS through recent results with Cassie. Specifically, Cassie's controller now includes planned footstep placements in addition to dynamic balancing, allowing access to substantially more complicated terrains.

  8. #28


    Cassie: dynamic walking with compliance

    Published on Apr 23, 2019

    Dynamic walking with Cassie, from simulation to outdoor experiments, utilizing the full dynamics of the robot to generate the walking gait. This includes leverage the compliance, i.e., springs, to achieve the desired walking gaits.

  9. #29


    Iterative gait design for Cassie

    Published on Apr 26, 2019

    Results of using DeepRL on a Cassie robot. Policies are trained in simulation and directly applied on hardware.

  10. #30


    Cassie vs Spin: a true story

    Published on Jul 4, 2019

    Cassie Blue gets her independence on July 4th! In this video, Cassie Blue is navigating autonomously. Right now, her world is very small, the Wavefield at the University of Michigan, where she is told to turn left at any intersection. You're right, that is not a lot of independence, but it's a first step away from a human and an RC controller!

    Using a RealSense RGBD Camera, Cassie Blue is building a 3D semantic map in real time that identifies sidewalks, grass, poles, bicycles, and buildings. From the semantic map, occupancy and cost maps are built with the sidewalk identified as walk-able area and everything else considered as an obstacle. A planner then sets a goal to stay approximately 50 cm to the left of the sidewalk's edge and plans path around obstacles and corners. The path is translated into waypoints that are achieved via Cassie Blue's gait controller.

    While there is a lot left to do, we knew that Cassie Blue would enjoy celebrating Independence Day with you!

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