This research is sponsored by the US Office of Naval Research. Hume uses its series elastic actuated legs to remain balanced while walking. It achieves this capability by observing the center of mass position error relative to a reference path and re-planning at every step a new reference trajectory to minimize the error. Re-lying on online continous replanning allows the robot to recover from the collisions with the rail stoppers.
The Legend of the Drunken Robot
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