ACHIRES, high speed bipedal robot, Ishikawa Watanabe Laboratory, University of Tokyo, Tokyo, Japan

[Airicist]

Developer - Ishikawa Watanabe Laboratory

Home page - k2.t.u-tokyo.ac.jp/fusion/BipedalRunning

[Airicist]

ACHIRES: Bipedal Running Using High-speed Visual Feedback

Published on Aug 28, 2014

ACHIRES is an ``Actively Coordinated High-speed Image-processing Running Experiment System.'' It is composed of high-speed vision and high-speed actuators to achieve instantaneous recognition and behavior. The similar technologies are used in our Janken (Rock Paper Scissors) Robot. High-speed vision recognizes the state of the biped robot at 600 fps for stable running without falling. The biped mechanism with the leg length of 14 cm is set to run in the sagittal plane. The running velocity of 4.2 km/h is achieved with simple control based on high-speed performance of sensory-motor system, unlike with computationally expensive ZMP-based control commonly used for balance. The aerial posture is recovered to compensate for the deviation from the stable trajectory using high-speed visual feedback. We also address a task of somersaulting. ACHIRES is going to be improved to push the envelope while demonstrating various biped locomotion tasks.
http://www.k2.t.u-tokyo.ac.jp/fusion/BipedalRunning

(no narration version) ACHIRES: Bipedal Running Using High-speed Visual Feedback

Published on Aug 28, 2014

This video is a no narration version of the ACHIRES video. You can hear the real sound of the robot.

[Airicist]

Running Progress - The History of Project ACHIRES

Published on Oct 9, 2014

Since the launch of the visual-feedback based bipedal running project in 2009, we have designed highly coordinated running experiment system, encompassing a 600 fps high-speed camera, real-time feedback controllers, image-processing programs and high-power actuators. This video provides brief understanding of how the project has progressed up until now.
We are proposing unique methods of bipedal locomotion and prospects for further development of robotic automation technology, including cognitive and motor capacity of robots.

The project is named "ACHIRES": Actively Coordinated High-speed Image-processing Running Experiment System