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diginfo diginfo News diginfo TV bluebiped Nagoya Institute of Technology System Instruments HCR2011 HCR ROBOTICS Robot ECO Ecoogy Environment WEARABLE MEDICAL Passive Walking Robot Passive Walking Robot University Guinness
This is a multibody dynamics simulation of a passive-walking wooden toy robot. (MBDyn Analysis + MATLAB Graphic) The design of this robot is due to: www.youtube.com and blog.dugnorth.com MBDyn Tutorial: www.sky-engin.jp MBDyn Examples: www.sky-engin.jp Making Animation with MATLAB: www.sky-engin.jp
Multibody dynamics analysis mbdyn MATLAB animation Simulation マルチボディダイナミクス MATLABアニメーション シミュレーション 受動歩行するからくりロボット robot
This is an energy efficient, passive dynamic, 2-D bipedal walker created in 2006 by students at Cornell University. Like the way humans walk, this robot moves forward through a series of controlled falling (a reverse pendulum). The only powered stroke in the gait is the linear extension of the center leg upon impact.
In 2001at Cornell University, Steve Collins built a passive dynamic walking robot based on the ideas of Tad McGeer who pioneered the field. The robot could walk down a plank without power, sensors, or a control system. It was built from metal rods, springs, and weights in just the right configuration such that the legs and arms would swing in a coordinated way as it ambled down. The robot was also able to walk efficiently on a flat surface by giving it a small push. McGeer had previously noticed that adding knees made passive walking more stable for bipedal machines. skitterbot.com
there are many studies about leg-wheel hybrid mobile robot because walking robot has high terrain adaptability on irregular ground but wheeled robot takes advantage of moving speed on smooth terrain. In the past, active wheels were often used for wheeled locomotion. However installation of active wheels restricted walking machine's ability very much. Because active wheels need actuators, brake mechanism and steering mechanism. This equipment is so heavy and bulky that it's not practical solution for walking robot which has many degrees of freedom. Proposed hybrid mobile robot named "Roller-Walker" is a vehicle with a special foot mechanism which changes between feet soles for the walking mode and passive wheels for the wheel. (Photo 2(a),(b)) Roller-Walker can utilize the installed actuators for walking, so additional weight is very light. The wheeled locomotion is based on the same principle of roller-skating.
Demonstration of a passive dynamic biped robot which is able to walk down outdoor roads or even a mountain road without leg driving motors. This is based on a result of our investigation of a stabilised robot foot shape (constraining foot), which is developed at Future University Hakodate (by K.Hyodo, T.Oshimura, and S.Mikami 2009, Japan).
Passive Dynamic Biped Robot Walks Outdoor Environment Hakodate Mt. Hakodate Future University
Vehicles using legged locomotion are good alternatives to wheeled or tracked vehicles because of their mobility. Legged locomotion provides comfort in transportation by isolating the vehicle from terrain irregularities. Walking robots could be used to improve human welfare, to provide more comfortable living environments, for military operations, search and rescue operations and recreational activities. In this project, a biomimetic bipedal robot will be designed and manufactured. Project involves mechanical, electrical, control system design and integration. The robot structure will be based on human lower extremity with antropomorphic dimensions. Biomimetics and passive dynamic walking principles will be applied in mechanical and control system design of the robot. Design of an energy efficient, human-like walking robot will be aimed.
YU-Bibot Biomimetic Walking Robot Project Yeditepe University Biped Walker
This robot works much like a hand cart. This is capable of stable, human-looking walking WITHOUT expending energy when you just push this. A 10-year research on passive dynamic walking enabled the research team led by Prof. Sano, NITech to develop this robot. This can stand on its own two feet even on a slope, which does not keep your hands occupied and thus enables you to independently perform different tasks. As of today, this offers 10-20 kg on-body payload capacity. This easily carries things by walking on unpaved lands (ex., soft grounds, grassy lands, gravel roads). Also, this can go over bumps (up to 15 cm differences), and/or ditches. www.youtube.com www.youtube.com www.youtube.com
nitech Carrying Robot Passive Walking 受動歩行 受動的動歩行 名古屋工業大学 名工大 佐野研究室 膝 無動力 農業 栗農園 建設 建築 ガテン系 2足運搬ロボット 2足歩行で荷物運ぶロボット開発 Honda Asimo Toyota alphadog Petman IEEE Spectrum bluebiped Boston Dynamics NSF DARPA Cornell Ranger
This video shows that the Acroban humanoid can achieve autonomous semi-passive dynamic walking by generating a self-perturbation in the form of CPGs (central pattern generators), while continuing to keep its balance with the same motor primitive as in other Acroban videos, of which motor commands simply add up with those of the CPGs (and these two sets of closed-loop motor primitives interact only through the physics of the robot, which illustrates the modularity of the system). The multi-articulated torso allows both for natural stabilization and accumulation/release of potential/kinetic energy through the coupled triple pendulum system: vertebral column (one inverted pendulum) and arms (two pendulums). This video also demonstrates that the robot is also robust to potentially large unknown external perturbations while dynamically walking. More info on: flowers.inria.fr Keywords: Developmental robotics, humanoid, robotics, passive dynamic walking, vertebral column, spine, compliance, robot, biped, human-robot interaction, child-robot interaction, Luxo Jr. effect, morphological computation, semi-passive dynamics, physical human-robot interaction, personal robotics
INRIA Developmental robotics humanoid passive dynamic walking vertebral column spine compliance robot biped
This video demonstrates that a particular family of external perturbations, ie periodic lateral perturbations here generated by a human, provokes spontaneously passive dynamic walking. While the robot uses only a self-stabilizing motor primitive, this external perturbation, amplified and at the same time stabilized by the active triple pendulum in the multi-articulated torso, makes it realize dynamic steps forward as a consequence of the intrinsic elasticity of the feet and legs. More info on: flowers.inria.fr Keywords: Developmental robotics, humanoid, robotics, passive dynamic walking, vertebral column, spine, compliance, robot, biped, human-robot interaction, child-robot interaction, Luxo Jr. effect, morphological computation, semi-passive dynamics, physical human-robot interaction, personal robotics
INRIA Developmental robotics humanoid passive dynamic walking vertebral column spine compliance robot biped
Robo-Erectus KidSize Humanoid Robot (www.robo-erectus.org) performing dynamic walking using passive walking principle.
Robo-Erectus; Humanoid; Soccer Robot; robocup; ARICC; Singapore Polyetchnic
Concept of an actuated passive walking mechanism. Step frequency is too high and legs are too short, but you can already guess what it is meant to do!
Walking robotic toy chimp developed, designed and built by me in 2006. 6 month development time and was assisted on the programming and uploading of code by programmer. The gate, sequencing locomotion concept was developed by me from previous inspired experiments in human and ape locomotion. Possible toy development implementation in the future. Bipedal gate with passive static and dynamic motions using 5 motors without any gimbal sensing or balancing system.
These legged robots realize the natural running based on the bouncing rod dynamics. The key point of bouncing rod dynamics is to transfer horizontal velocity into lifting momentum. There is a close resemblance between the gait of the running robot with knees and that of human race. www.youtube.com www.youtube.com www.youtube.com
Running Robot Athlete World Championships in Athletics Humanoid 受動走行 受動歩行 Passive Walking 名古屋工業大学 名工大 佐野研究室 スポーツ アスリート 走行 ロボット 100m走 水切り 起こし回転 長距離 世界陸上 膝 Honda ASIMO Toyota bigdog PETMAN Boston Dynamics NSF DARPA 義足ランナー Cornell Ranger IEEE Spectrum bluebiped
Passive walker with knees can walk down shallow slope in a natural gait and can exhibit a stable limit cycle only by interaction between the nonlinear dynamic system and the slope. We focus on the physical principle of gait generation and its stabilization. This is the latest experimentation on biped anthropomorphic passive walker. There is a close resemblance between the gait of passive walker and that of human race. www.youtube.com www.youtube.com www.youtube.com
Walking Robot Android Passive 受動歩行 受動的動歩行 名古屋工業大学 名工大 佐野研究室 アンドロイド Honda Asimo Toyota bigdog Petman 世界陸上 膝 無動力 踵着地 IEEE Spectrum bluebiped
The compliant humanoid robot COMAN learns to walk with two different gaits: one with fixed height of the center of mass, and one with varying height. The varying-height center-of-mass trajectory was learned by reinforcement learning in order to minimize the electric energy consumption during walking. The optimized walking gait achieves 18% reduction of the energy consumption in the sagittal plane, due to the passive compliance - the springs in the knees and ankles of the robot are able to store and release energy efficiently. In addition, the varying-height walking looks more natural and smooth than the conventional fixed-height walking. This research was presented at the International Conference on Intelligent Robots and Systems (IROS 2011) in September 25-30, 2011 in San Francisco, California. Video credits: -------------------------- Dr. Petar Kormushev kormushev.com Dr. Barkan Ugurlu Dr. Nikos Tsagarakis Affiliation ------------------------- Department of Advanced Robotics Italian Institute of Technology Publication: --------------------------------- Kormushev, P., Ugurlu, B., Calinon, S., Tsagarakis, N., and Caldwell, DG, "Bipedal Walking Energy Minimization by Reinforcement Learning with Evolving Policy Parameterization", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS-2011), San Francisco, 2011. kormushev.com Paper title: -------------------------- Bipedal Walking Energy Minimization by Reinforcement Learning with Evolving Policy <b>...</b>
robot learns learning walk walking compliant humanoid energy efficient reinforcement petar kormushev COMAN
Passive walker with knees can walk down shallow slope in a natural gait and can exhibit a stable limit cycle only by interaction between the nonlinear dynamic system and the slope. We focus on the physical principle of gait generation and its stabilization. This is the latest experimentation on biped anthropomorphic passive walker. There is a close resemblance between the gait of passive walker and that of human race. www.youtube.com www.youtube.com
Walking Robot Android Passive 受動歩行 受動的動歩行 名古屋工業大学 名工大 佐野研究室 アンドロイド Honda Asimo Toyota bigdog Petman 世界陸上 膝 無動力 踵着地 IEEE Spectrum bluebiped Boston Dynamics
PLEASE CLICK HERE: ruina.tam.cornell.edu Cornell Ranger, a 4-legged biped walked a non-stop ultra-marathon without re-charging or being touched by a human at Cornell Universities indoor Barton Hall track. Beginning 1 st May 2011 at 2:11 PM and ending on 2 nd May 2011 9 PM (30 hours 49 min and 2 sec) the robot covered 40.54 miles or 65 kms breaking its earlier record of 14.3 miles set in July 2010.
Cornell Ranger Cornell Bigdog Boston Dynamics Walking Robot Bipedal Ultra Marathon Marathon Half Marathon ASIMO Biorobotics Locomotion LEGO Robocup PETMAN Quadruped Andy Ruina Mechanical Engineering Osaka Robot Marathon Passive Dynamic Walking NSF Endurance Energy efficient Battery Powered Barton Hall COT Cost of Transport Natural Gait MABEL Guinness World Record World Record
A short video showing the testing of the initial ideas of how to build a passive dynamic walking robot for the MEng Challenge. The team is broken down into three sub-teams that are looking at building the gait lab/modeling system and the passive dynamic robot. More updates to come.
Passive limit-cycle walk of a stick-man at the Section Dynamics and Control, Department of Mechanical Engineering, Eindhoven University of Technology, The Netherlands. This experiment is conducted in the frame of a student minor-project.
In order to explore compliant humanoid characteristics, we developed a passive compliant bipedal robot. The robot has a total 17 of DOF (degrees of freedom); 6 active and 1 passive (toe joint) DOF in each leg, and 3 active DOF at the waist to be able to obtain greater motion flexibility. Each joint incorporates three position sensors (2 absolute and 1 relative) and one torque sensor. The robot is also equipped with 6-axis Force/Torque sensors at the ankles and five 1-axis load cells on the foot sole. In addition, cCub has a 3-axis rate gyro sensor and a 3-axis accelerometer, located at the pelvis. In its electronic hardware structure, the main controller is an Intel Core 2 Duo 1.5 GHz dual processor with 3.0 GB RAM, running on a 32-bit GNU/Linux operating system that is based on a real time Xenomai extension. Data communication is performed via real-time Ethernet protocol called RTnet. These are the preliminary dynamic walking experiments conducted on the compliant humanoid. Walking patterns are generated using ZMP criterion and computed in real-time.
Cornell University professor Hod Lipson demonstrates how a robot can teach itself to walk without any knowledge of its form and function. "Within a relatively small number of these babbling actions, it will figure out what it looks like," Lipson says. He adds that eventually "it can figure out how to move." ---- Join an audience at swissnex San Francisco as scientists from Switzerland and the US discuss their research on humanoid robots, cognitive robotics, and artificial intelligence (AI). Hear how some robots self-reflect, self-improve, and adapt to new circumstances, and whether it's possible for robots of the future to possess the same cognitive characteristics as humans. Cornell University's Hod Lipson is seeking to understand if machines can learn analytical laws automatically. For centuries, scientists have attempted to identify and document analytical laws underlying physical phenomena in nature. Despite the prevalence of computing power, the process of finding natural laws and their corresponding equations has resisted automation. Lipson has developed machines that take in information about their environment and discover natural laws all on their own, even learning to walk. Rolf Pfeifer directs the Artificial Intelligence Lab at the University of Zurich. Together with his scientific assistant Pascal Kaufmann, Pfeifer presents current AI research and a humanoid robot in the Ecce family referred to as Cronos. Instead of copying only the outward form of a human <b>...</b>
robot robots ai artificial intelligence cognitive robotics adapt computer hod lipson automation self-awareness self-aware research teach learn mechanical
The Cornell Ranger robot just kept going and going April 3, 2008, when it set an unofficial world record by walking nonstop for 45 laps -- a little over 9 kilometers or 5.6 miles -- around the Barton Hall running track. The celebration begins on lap 20 (2.1 km), as the Cornell Ranger breaks the distance record for a walking robot. Accompanying the Ranger were engineering graduate students Andrey Turovsky and Greg Stiesberg; Jason Cortell, manager of the Biorobotics and Locomotion Lab; and Bram Hendriksen, a visiting graduate student from the Netherlands. Developed by a team of students working with Andy Ruina, Cornell professor of theoretical and applied mechanics, the robot walked (and walked) until it finally stopped and fell backward, perhaps because its battery ran down. The event was to show off the machine's energy efficiency. Unlike other walking robots that use motors to control every movement, the Ranger emulates human walking, using gravity to help swing its legs forward. The goal of the research, Ruina said, is not only to advance robotics but also to learn more about the mechanics of walking. The information could be applied to rehabilitation and prosthetics for humans and even to improving athletic performance.
Dieses Video entstand im Rahmen unseres Projektes im Fachbereich Biomechanik an der FSU Jena. Dargestellt wird der Laufroboter "Pinocchio". Das Projekt verfolgte das Ziel die menschliche Gehbewegung kinematisch nachzuahmen. This video was created as part of our project in the Department of Biomechanics at the FSU Jena. Shown is the walking robot "Pinocchio". The project pursued the aim to imitate the human walking kinematically.
Here, we present the design and realization of a cheap, lightweight quadruped robot based on a real dogs' anatomy. The robot is capable of autonomously showing multiple gaits such as walk, which require active retraction of the legs, and gallop, during which all four legs are lifted from the ground. Please visit our research group on reslab.elis.ugent.be for more information.
Acroban is a lightweight compliant humanoïd robot. It is capable of semi-passive dynamic movement, including semi-passive dynamic walking. Equipped with a multi-articulated vertebral column, its bio-inspired design relies heavily on the use of adequate morphology and materials for robustness and adaptivity to external perturbations. This allows not only for advanced motor skills, but also affords a new kind of physical human-robot interaction which is made possible by the ability of the human to modify the state (joint positions) of the robot by a direct physical manipulation, thanks to compliance. In this way, joints become the interface between the robot and the human: They make possible the exchange of analogical information. Interestingly, the motors, material, and electronics of Acroban are all low-cost. This allows us to show that it is actually possible to build such robust compliant motor skills and generate original life-like movements with basic affordable components if they are adequately chosen, combined and controlled. Furthermore, Acroban provokes spontaneous highly positive emotional reactions, especially in children. Yet, as opposed to many other robots, its morphology is neither roundish nor cute. He has no big eyes. He is just made of metal, and its appearance shows it explicitly. At first glance, its visual appearance creates low expectation of intelligence and life-likeness. But when it begins to move and one can touch it, its natural dynamics, much <b>...</b>
INRIA Developmental robotics humanoid robotics passive dynamic walking vertebral column spine compliance robot biped human-robot interaction child-robot interaction Luxo Jr. effect morphological computation semi-passive dynamics personal robotics flowers Siggraph 2010.
This video illustrates the ability of Acroban to keep its balance under various unknown and large external perturbations, all with a single motor primitive with the same parameters, leveraging semi-passivity in the whole body, and in the vertebral column in particular. More info on: flowers.inria.fr Keywords: Developmental robotics, humanoid, robotics, passive dynamic walking, vertebral column, spine, compliance, robot, biped, human-robot interaction, child-robot interaction, Luxo Jr. effect, morphological computation, semi-passive dynamics, physical human-robot interaction, personal robotics
Developmental robotics humanoid passive dynamic walking vertebral column spine compliance robot biped
This video shows that Acroban affords natural intuitive human physical guidance through a physical human robot interface based on morphological computation. When a human takes the arms of the robot with exactly the same motor primitives than those used for autonomous stabilization and balancing, tuned such that the robot alone does not walk forward by itself, then the forces applied to the robot (even weak) by the human make it spontaneously follow the human guidance. There is not a single line of code in the system that tells the robot to follow the human if taken by the hand. This is a spontaneous consequence of the interaction between gravity, inertia and the morphological structure of the robot, an example of what is called morphological computation. More info on: flowers.inria.fr (INRIA FLOWERS) Keywords: Developmental robotics, humanoid, robotics, passive dynamic walking, vertebral column, spine, compliance, robot, biped, human-robot interaction, child-robot interaction, Luxo Jr. effect, morphological computation, semi-passive dynamics, physical human-robot interaction, personal robotics, inria, flowers, Siggraph 2010.
INRIA Developmental robotics humanoid passive dynamic walking vertebral column spine compliance robot biped
This video shows the 30 DOFs mechanical structure of Acroban, showing in particular its multi-articulated torso with the vertebral column as well as springs and elastics. More info on: flowers.inria.fr Keywords: Developmental robotics, humanoid, robotics, passive dynamic walking, vertebral column, spine, compliance, robot, biped, human-robot interaction, child-robot interaction, Luxo Jr. effect, morphological computation, semi-passive dynamics, physical human-robot interaction, personal robotics
INRIA Developmental robotics humanoid passive dynamic walking vertebral column spine compliance robot biped
My first Lego walker robot in a "antimindstorms"-series. It works without electronics! This creation is not remote controlled; it works pure mechanical and it's "brains" contains only two rubberbands, some gears and a switch! As you can see it backs-up when it hits the wall and then moves forwards again after a few seconds. The goal was to create a "clever" and very small lego-bot without electronics. What you see is only one Batterybox, one geared-motor and one polarity-switch!!!! Plus some gears and additional Lego of course... It contains only 100% original Lego-pieces, except for the batteries. (This is also valid for all my other models! ) Another thing is that it's able to walk for over 80 hours on one Lithium 9V-battery. (!) You might imagine that I'm very proud of this model. Please; feel free to comment!
Lego Walker Dutchman mennogorter Lug Leg Legs Foot Feet Spider man beast animal Legoworld Holland Netherlands Power Functions Mindstorms NXT 1.1 1.0 2.0 3.0 walking robot robotics star wars at-at mecha technic tarantula Solifugid aragna aragnid artificial lifeform electro motor sensor hunter killer theo jansen Klann linkage Quadraped biped hexapod insect ant bug saurus raptor larva worm made big dog centipede active passive dynamic computer gadget mechanics technology electronics diy environment
Just underlining my accomplishment of Lego-with-legs..... This is a preview of the prototype, but seems just fine otherwise. At least it's good enough to show of a bit., isn't it? You might have spotted PF/NXT OMNI-Spider is capable of walking in any direction? ( I know I'm still not good enough for the MCP. )
Lego Walker Dutchman mennogorter Leg Foot Feet Spider man beast animal Legoworld Holland Power Functions Mindstorms NXT 1.1 1.0 2.0 3.0 walking robot invention at-at mecha technic tarantula arachn arak invert artificial lifeform electro motor sensor hunter killer theo jansen Klann linkage biped hexapod insect ant bug worm big dog centipede active passive dynamic computer gadget mechanics technology electronics diy Math Star Wars solver Physics Robots Cute Lab bionic droid avatar DOF Space omni
This video demonstrates that Acroban affords original physical human-robot interactions where joints become interfaces and compliance provides safety and intuitiveness. Acroban provokes spontaneous highly positive emotional reactions, especially in children. Yet, as opposed to many other robots, its morphology is neither roundish nor cute. He has no big eyes. He is just made of metal, and its appearance shows it explicitly. At first glance, its visual appearance creates low expectation of intelligence and life-likeness. But when it begins to move and one can touch it, its natural dynamics, much more life-like than most other robots, triggers a high contrast and positive surprise. Life unexpectedly appears out of a neutral metallic object, much as Pixar's Luxo Jr. This is why we call it the Luxo Jr. effect. A live demonstration of Acroban will appear at Siggraph 2010 Emerging Technologies: Ly, O., Oudeyer, PY. (2010) Acroban the Humanoid: Playful and Compliant Physical Child-Robot Interaction, in ACM SIGGRAPH'2010 Emerging Technologies. More info on: flowers.inria.fr (INRIA FLOWERS) Keywords: Developmental robotics, humanoid, robotics, passive dynamic walking, vertebral column, spine, compliance, robot, biped, human-robot interaction, child-robot interaction, Luxo Jr. effect, morphological computation, semi-passive dynamics, physical human-robot interaction, personal robotics, inria, flowers
INRIA Developmental robotics humanoid robotics passive dynamic walking vertebral column spine compliance robot biped human-robot interaction child-robot interaction Luxo Jr. effect morphological computation semi-passive dynamics personal robotics flowers Siggraph 2010.
A passive compass gait bipedal robot that is the final result of a class project (MEEN 404 at Texas A&M). This robot is able to walk down natural slopes, therefore providing an experimental realization of passive dynamic walking.
A video describing the ideas behind passive dynamic walking by the man who first discovered the idea: Tad McGeer. For more on these concepts, see: Tad McGeer, Passive Dynamic Walking, The International Journal of Robotics Research, 1990
