Thursday, January 22, 2009

2 Legs Robot 2

Bipedal Autonomous Robot BARt-UH

Each leg of BARt-UH is composed of three joints, the hip joint,
the knee and the ankle resulting for a total of six degrees of freedom
for the robot. The motion of BARt-UH is restricted to the sagittal
plane. BARt- UH is able to perform statically and dynamically stable
walking. The power supply for autonomous walking, as well as
the power circuits for driving the joints reside on top of the robot.

The UNH Biped Robot

The biped hardware developed at UNH is shown above. The goal
of the ongoing ARPA/ONR sponsored research is to develop
strategies for the control of static and dynamic balance during two
legged walking based on a hierarchy of simple gait oscillators,
PID controllers and neural network learning, but requiring no
detailed dynamic models.


LISA has twelve active degrees of freedom. All axes are actuated
by DC motors with harmonic drive gears and are equipped with
incremental encoders for the servo control feedback. Each leg has
two rotatory degrees of freedom (DOF) in the ankle, a revolute
joint in the knee and a ball-and-socket-like hip joint with three rotatory
DOF. The hip has been built as a spherical parallel manipulator
(see below). Thus, the legs are lightweight, quick and have nearly
the workspace (region of movability) of a human leg.

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