StarlETH

StarlETH

StarlETH is a quadruped robot based on the high-compliant series elastic leg ScarlETH. It was developed at our lab for fast, efficient, and versatile locomotion on four legs. Using the same leg design but with one additional degree of freedom per leg, we will be able to move highly dynamic using different gaits, such as bounding, trotting, or running.

References

M. Hutter, C. Gehring, M. Bloesch, M. Hoepflinger, C. D. Remy, R. Siegwart, “StarlETH: A Compliant Quadrupedal Robot for fast, efficient, and versatile Locomotion”, Proc. of the International Conference on Climbing and Walking Robots (CLAWAR), 2012. [full paper]

Movies

StarlETH at TEDxZurich, 2012

Stelian Coros talking about Human Locomotion and StarlETH at TEDxZurich

Gait Transition from Static Walk to Walking Trot

Trot on Treadmill

Trot

Stem Walk

Drop test

Standup with 25kg Payload

Static Walk

StarlETH with 3D mouse

At the Scientifica 2011, visitors could play around with StarlETH. Using a 3D CAD mouse, they could change its posture while pushing the robot.

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Assembly of the main body female mold	Manufacturing of the carbon main body	Demolding of the main body
Complete main body torso	Part overview	Assembled hip abduction drive
Front plates with engravings and colouring paste	Assembled hips and thighs	Hip and leg modules
Back view of main body side module	Front view of main body side module	Half a robot
Complete robot during wiring	starlethmaxon_poster_v02_dr.jpg