Illustrations of the Hume Biped for Fast Locomotion in Irregular Terrains


UT Austin’s biped robot for fast rough terrain locomotion. The Hume biped will be capable of maneuvering on terrains with height variations between 0-40 [cm] at speeds above 1 [m/s]. It uses SEA actuators with joint velocities above 10 [rad/s] and joint torques above 100 [Nm]. Its overall weight is 15 [Kg] and its overall height is 1.6 [m] thus resembling a mid size person.

Paper cover


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