Legged Robotics

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This projects aims towards the design and construction of an energy efficient robotic quadruped that is capable of various dynamic motions including fast walking, trotting, bounding, and galloping. The primary focus is the production of an actual mechanical prototype. The prototype and the associated control strategies will be developed so as to maximize dynamic performance while minimizing energy consumption. In particular, to make the system as energy efficient as possible, we intend to exploit natural, or passive, dynamics in ways that have been the focus of significant previous research and shown themselves to be effective in bipedal robots. The extension of the concept of passive dynamics to quadrupedal robots, and more importantly the actual realization of such a system, has to date received very little attention by other researchers. The principal parts of the project are:

  • Developing simulation capabilities to aid design calculations and evaluate controller performance.
  • The development of fundamentally new control strategies that incorporate the advantageous haracteristics of passive dynamics into an optimal controller with deadbeat attitude feedback.
  • Designing, fabricating, and testing a mechanical prototype to evaluate controller stability, robustness, and performance.
News
12/08/14 Legged robotics of ASL featured as “success story” on the SPARC website of EUrobotics: http://sparc-robotics.eu/legged-robots/
1/08/14 Legged robotics team wins the “Best Robot Video” at the AAAI Video competition (Website, Blog postYouTube channel). As we heard from the organizers, the crowd also loved the acceptance speech.
12/06/14 Our collaboration with Duncan Haldane (UC Berkeley, Group of Ron Fearing) made it into several news: PhysOrg, IEEE Spectrum
11/06/14 Our group organized the Dynamic Walking Conference 2014, an impression video is available here
07/05/14 Jemin Hwangbo wins ETEL Master award for his Master Thesis “Reinforcement Learning for Legged Locomotion Control - GaMER Optimization”
20/03/14 Thanks to our collaborators at IDSIA, StarlETH can now perceive people as shown in this video.
27/01/14 Marco Hutter wins ETH Medal for his Doctoral Thesis “StarlETH & Co. - Design and Control of Legged Robotics with Compliant Actuation”
17/12/13 The annual ASL merry x-mas video is available. Happy holiday season to everyone!
03/12/13 SRF schweizweit with Wasiliki Goutziomitros visiting StarlETH. Check this picture
04/10/13 Marc Forster visiting StarlETH. Check this picture
01/10/13 Our group will organize the Dynamic Walking Conference 2014 at ETH from June 10 to June 13, 2014
13/09/13 Here is a new pronking and running trot video of StarlETH
01/09/13 StarlETH in the show Roboterzauber at Scientifica 2013
01/07/13 Here is a compilation of the demonstrations of StarlETH at ICRA 2013
07/01/13 Stelian Coros presented StarlETH at TEDxZurich
18/12/12 Watch our movie about the Automous Christmas Lab
03/12/12 We welcome Péter to our team!
26/09/12 Watch our movie How to engineer a dog on robohub.org
18/09/12 New movie on StarlETH that smoothly transits from static walk to walking trot.
24/08/12 New movie on StarlETH running on the treadmill blindly over obstacles.
23/08/12 New CLAWAR papers/presentation on StarlETH andpassive ankle joints, RSS paper on Hybrid Operational Space Control.
15/08/12 We finally finished our new treadmill (dimensions 1.6mx2.8m controlled by the robot host PC and combined it with our new optiTrack system.
30/07/12 New movies that were shown at RSS 2012 and CLAWAR 2012 are online.
23/03/12 New version 1.1 of proNEu is available (minor bugfixes and improvements of the documentation)
09/01/12 1 new project in the field of Biologial Modeling available.
07/01/12 3 new projects in the field of Design and Neuromorphic Vision available.
21/12/11 New MATLAB Tool for anayltical global kinematics and dynamics (EoM) based on projected Newton-Euler equations available.
17/10/11 New movie showing static walking of StarlETH available
21/09/11 Some new papers available .
26/08/11 -28/08/11 Visit us at Scientifica 2011.
19/07/11 ASL Legged Robots in MDR day news.
19/07/11 Gallery of 50 year maxon online.
07/07/11 New master thesis with internship at EPFL is available.
07/07/11 Summer School
10/05/11 Website is online
Thanks to our new group member Christian, we could improve our web presence. Thanks!!!
10/05/11 StarlETH short before birth
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