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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.
Motion Planning of Extreme Locomotion Maneuvers, Humanoids 2011
The HCRL on YNN TV Channel at Barnes & Noble
Stability Analysis to Plan Dynamic Locomotion in Very Rough Terrain, IROS 2011, ISRR 2011
Master’s Project: Tricky, Force Controlled Holonomic Base
Master’s students, Somudro Gupta (demonstrator) and Pius Wong (video) show their work on design and control of our new holonomic base Tricky. Tricky employs omni wheels set in a triangular configuration to achieve omni-directional force control. It uses three Maxon motors rated at 250W with 3 stage planetary gears and 60 gear ratio providing 18Nm of torque per wheel. To control the torques, we have developed a new amplifier board capable of doing both current and load cell feedback. The board uses a Freescale 8-bit MC9S08MP16 microcontroller to achieve servo rates of 4KHz. The movie shows force interactions between the base and a user, based on servoing torque feedback.
Spotlight on the multi-contact/grasp matrix for the control of compliant legged robots
The HCRL Lab hosts Marc Raibert
Dreamer says hello to Willow Garage
These sketches present our current progress in compliant control of humanoid robots at Willow Garage. The idea is to combine torque-based compliant behaviors for Cartesian and joint space tasks. This approach enables to respond quickly to contact, be safe and use effectively the dynamics of the mechanism. The focus of this research is more on the skill than on the single low level control process. We provide infrastructure to bridge the gap between the skill developer (who cares about the mathematics of movement and robot dynamics) and the skill user (who cares about motion / high level planning and perception).