Journal ArticleDOI
Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max
Claudio Semini,Victor Barasuol,Jake Goldsmith,Marco Frigerio,Michele Focchi,Yifu Gao,Darwin G. Caldwell +6 more
TLDR
In this paper, the authors presented the design of the hydraulically actuated quadruped robot HyQ2Max, which is an evolution of the 80 kg agile and versatile robot HQ. Compared to HQ, the new robot needs to be more rugged, more powerful and extend the existing locomotion skills with self-righting capability.Abstract:
This paper presents the design of the hydraulically actuated quadruped robot HyQ2Max . HyQ2Max is an evolution of the 80 kg agile and versatile robot HyQ. Compared to HyQ, the new robot needs to be more rugged, more powerful and extend the existing locomotion skills with self-righting capability. Since the robot's actuation system has an impact on many aspects of the overall design/specifications of the robot (e.g., payload, speed, torque, overall mass, and compactness), this paper will pay special attention to the selection and sizing of the joint actuators. To obtain meaningful joint requirements for the new machine, we simulated seven characteristic motions that cover a wide range of required behaviors of an agile rough terrain robot, including trotting on rough terrain, stair climbing, push recovery, self-righting, etc. We will describe how to use the obtained joint requirements for the selection of the hydraulic actuator types, four-bar linkage parameters, and valve size. Poorly sized actuators may lead to limited robot capabilities or higher cost, weight, energy consumption, and cooling requirements. The main contributions of this paper are: 1) a novel design of an agile quadruped robot capable of performing trotting/crawling over flat/uneven terrain, balancing, and self-righting; 2) a detailed method to find suitable hydraulic cylinder/valve properties and linkage parameters with a specific focus on optimizing the actuator areas; and 3) to the best knowledge of the authors, the most complete review of hydraulic quadruped robots.read more
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Proceedings ArticleDOI
MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot
Abstract: This paper introduces a new robust, dynamic quadruped, the MIT Cheetah 3. Like its predecessor, the Cheetah 3 exploits tailored mechanical design to enable simple control strategies for dynamic locomotion and features high-bandwidth proprioceptive actuators to manage physical interaction with the environment. A new leg design is presented that includes proprioceptive actuation on the abduction/adduction degrees of freedom in addition to an expanded range of motion on the hips and knees. To make full use of these new capabilities, general balance and locomotion controllers for Cheetah 3 are presented. These controllers are embedded into a modular control architecture that allows the robot to handle unexpected terrain disturbances through reactive gait modification and without the need for external sensors or prior environment knowledge. The efficiency of the robot is demonstrated by a low Cost of Transport (CoT) over multiple gaits at moderate speeds, with the lowest CoT of 0.45 found during trotting. Experiments showcase the ability to blindly climb up stairs as a result of the full system integration. These results collectively represent a promising step toward a platform capable of generalized dynamic legged locomotion.
Journal ArticleDOI
A Survey on Control of Hydraulic Robotic Manipulators With Projection to Future Trends
TL;DR: In this paper, a literature review is performed on their control, covering both free-space and constrained motions of serial and parallel manipulators, and potential solutions to improve the system energy efficiency without control performance deterioration are discussed.
Journal ArticleDOI
Ros_Control: A Generic And Simple Control Framework For Ros
Sachin Chitta,Eitan Marder-Eppstein,Wim Meeussen,Vijay Pradeep,Adolfo Rodríguez Tsouroukdissian,Jonathan Bohren,David Coleman,Bence Magyar,Gennaro Raiola,Mathias Lüdtke,Enrique Fernandez Perdomo +10 more
TL;DR: The `ros_control` framework provides the capability to implement and manage robot controllers with a focus on both realtime performance and sharing of controllers in a robot-agnostic way and implements solutions for controller-lifecycle and hardware resource management.
Journal ArticleDOI
Advances in real-world applications for legged robots
Proceedings ArticleDOI
Optimized Jumping on the MIT Cheetah 3 Robot
TL;DR: This paper presents a novel methodology for implementing optimized jumping behavior on quadruped robots that includes efficient trajectory optimization, precise high-frequency tracking controller and robust landing controller for stabilizing the robot body position and orientation after impact.
References
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Journal ArticleDOI
BigDog, the Rough-Terrain Quadruped Robot
TL;DR: The mission at Boston Dynamics is to develop a new breed of rough-terrain robots that capture the mobility, autonomy and speed of living creatures, which will travel in outdoor terrain that is too steep, rutted, rocky, wet, muddy, and snowy for conventional vehicles.
Book
Rigid Body Dynamics Algorithms
TL;DR: Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation to facilitate the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.
Journal ArticleDOI
Design of HyQ – a hydraulically and electrically actuated quadruped robot:
Claudio Semini,Nikos G. Tsagarakis,Emanuele Guglielmino,Michele Focchi,Ferdinando Cannella,Darwin G. Caldwell +5 more
TL;DR: In this article, a hydraulically powered quadruped robot (HyQ) was developed to serve as a platform to study not only highly dynamic motions, such as running and jumping, but also careful navigat...
Starleth: A compliant quadrupedal robot for fast, efficient, and versatile locomotion
Marco Hutter,Christian Gehring,Michael Bloesch,Mark A. Hoepflinger,C. D. Remy,Roland Siegwart +5 more
TL;DR: StarlETH as mentioned in this paper is a compliant quadrupedal robot that is designed to study fast, ecient, and versatile locomotion and is fully actuated with high compliant series elastic actuation, making the system torque controllable and at the same time well suited for highly dynamic maneuvers.
Journal ArticleDOI
Flexible muscle-based locomotion for bipedal creatures
TL;DR: A muscle-based control method for simulated bipeds in which both the muscle routing and control parameters are optimized yields a generic locomotion control method that supports a variety of bipedal creatures.