DRC-hubo walking on rough terrains

Wang, Hongfei; Zheng, Yuan F.; Jun, Youngbum; Oh, Paul

doi:10.1109/tepra.2014.6869151

Cited by 27 publications

(9 citation statements)

References 12 publications

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“…The performance of ANYmal was tested in different maneuvers and locomotion experiments illustrated in Fig. 12 4 . In order to ensure fast and stable locomotion, particular attention was paid to accurate swing leg position and stance leg force tracking, as well as good following behavior of the target base motion.…”

Section: Methodsmentioning

confidence: 99%

“…Since the scenario is very close to reality, all teams were forced to massively invest in hardware development to improve not only versatility but also reliability and ruggedness of the robots. These developments resulted in many highperformance machines like ATLAS[2], Valkyrie [3], DRC Hubo [4], HRP2+ [5], Walkman and others, most of them based on earlier robot versions. This new generation of humanoid robots commonly feature some sort of force or torque control -either by integrated load cells in the joints or at the end-effector, or by a series elasticity in every *This work was supported in part by the Swiss National Science Foundation (SNF) through the National Centre of Competence in Research Robotics, by the EC's 7th Famework ECHORD++ Project Module, and by TOTAL SA through the ARGOS Challenge.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

ANYmal - a highly mobile and dynamic quadrupedal robot

Hutter¹,

Gehring²,

Jud³

et al. 2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

678

443

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This paper introduces ANYmal, a quadrupedal robot that features outstanding mobility and dynamic motion capability. Thanks to novel, compliant joint modules with integrated electronics, the 30 kg, 0.5 m tall robotic dog is torque controllable and very robust against impulsive loads during running or jumping. The presented machine was designed with a focus on outdoor suitability, simple maintenance, and user-friendly handling to enable future operation in real world scenarios. Performance tests with the joint actuators indicated a torque control bandwidth of more than 70 Hz, high disturbance rejection capability, as well as impact robustness when moving with maximal velocity. It is demonstrated in a series of experiments that ANYmal can execute walking gaits, dynamically trot at moderate speed, and is able to perform special maneuvers to stand up or crawl very steep stairs. Detailed measurements unveil that even full-speed running requires less than 280 W, resulting in an autonomy of more than 2 h.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

ANYmal - a highly mobile and dynamic quadrupedal robot

Hutter¹,

Gehring²,

Jud³

et al. 2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

678

443

View full text Add to dashboard Cite

show abstract

“…Since the scenario is very close to reality, all teams were forced to massively invest in hardware development to improve not only versatility but also reliability and ruggedness of the robots. These developments resulted in many high-performance machines like ATLAS [2], Valkyrie [3], DRC Hubo [4], HRP2+ [5], Walkman [6] and others, most of them based on earlier robot versions. This new generation of humanoid robots features some sort of force or torque control -either by integrated load cells in the joints or at the endeffector, by pressure transducers in the cylinders, or by a series elasticity in every actuator.…”

Section: Introductionmentioning

confidence: 99%

ANYmal - toward legged robots for harsh environments

et al. 2017

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This paper provides a system overview about ANYmal, a quadrupedal robot developed for operation in harsh environments. The 30 kg, 0.5 m tall robotic dog was built in a modular way for simple maintenance and user-friendly handling, while focusing on high mobility and dynamic motion capability. The system is tightly sealed to reach IP67 standard and protected to survive falls. Rotating lidar sensors in the front and back are used for localization and terrain mapping and compact force sensors in the feet provide accurate measurements about the contact situations. The variable payload, such as a modular pan-tilt head with a variety of inspection sensors, can be exchanged depending on the application. Thanks to novel, compliant joint modules with integrated electronics, ANYmal is precisely torque controllable and very robust against impulsive loads during running or jumping. In a series experiments we demonstrate that ANYmal can execute various climbing maneuvers, walking gaits, as well as a dynamic trot and jump. As special feature, the joints can be fully rotated to switch between X-and O-type kinematic configurations. Detailed measurements unveil a low energy consumption of 280 W during locomotion, which results in an autonomy of more than 2 h.

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“…A stereolabs ZED camera (ZED, 2017) is mounted on a frame connected to the shoulder of the arm. The batteries are housed inside the base, and a computer mount and WiFi router sit on the base [Color figure can be viewed at wileyonlinelibrary.com] with wheels on the legs, allowing it to walk or drive through the outdoor terrain (Wang, Zheng, Jun, & Oh, 2014). The Atlas was developed as a high powered humanoid using hydraulic actuators to be used as a standard platform for DRC (Feng, Xinjilefu, Atkeson, & Kim, 2015).…”

Section: Related Workmentioning

confidence: 99%

Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

Chan¹,

Mizohana²,

Chen³

et al. 2018

Journal of Field Robotics

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The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.

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DRC-hubo walking on rough terrains

Cited by 27 publications

References 12 publications

ANYmal - a highly mobile and dynamic quadrupedal robot

ANYmal - a highly mobile and dynamic quadrupedal robot

ANYmal - toward legged robots for harsh environments

Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

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