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Thread: ALPHRED, Autonomous Legged Personal Helper Robot with Enhanced Dynamics, Robotics & Mechanisms Laboratory (RoMeLa), Virginia Tech, Blacksburg , Virginia, USA

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    ALPHRED, Autonomous Legged Personal Helper Robot with Enhanced Dynamics, Robotics & Mechanisms Laboratory (RoMeLa), Virginia Tech, Blacksburg , Virginia, USA


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    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.

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    ALPHRED2 on casters

    Published on Jul 24, 2019

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    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.

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