Êtes-vous un étudiant de l'EPFL à la recherche d'un projet de semestre?
Travaillez avec nous sur des projets en science des données et en visualisation, et déployez votre projet sous forme d'application sur GraphSearch.
Adapting to the ground enables stable footholds in legged locomotion by exploiting the structure of the terrain. On that account, we present a passive adaptive planar foot with three rotational degrees of freedom that is lightweight and thus suited for highly dynamic legged robots. Its low laying pivot joint provides high stability towards kinking. Information about the relative foot sole pose, and accordingly, the ground orientation is gathered by inertial measurement units (IMUs) placed on the foot sole and the shank. A complementary filter is presented that fuses these orientation estimates with an angular encoder to obtain a drift-free relative foot sole pose. The passive adaptive planar foot has been tested and compared to the classical point foot design on a variety of terrains and shows superior traction performance, especially on compressible soils. Being mounted on the quadrupedal robot ANYmal, the foot provides a reliable contact detection based on the fusion of the built-in 6-axis force/torque transducer and the IMUs. This allows to walk and trot on uneven terrain, loose soils, as well as climbing up a ramp and stairs while keeping the entire foot sole in ground contact all the time.
Chargement
Chargement
Chargement
Chargement
Chargement
Simon Lukas Hauser, Auke Ijspeert, Mehmet Hasan Mutlu
impact damping'' and
propulsion force transmission'', and we show how this regularizes step sizes on rough terrain. We then present one mode-switch method in control, a force feedback strategy named tegotae''. This switches the functionality of leg movement between
displacing the leg'' and displacing the body'', and we show how this informs the controller about which legs are bearing less weight and thus are more suited to be moved. We suggest that these methods can be applied to any legged structure and use modular robots to demonstrate these concepts. In parallel, we also improved our previously developed self-reconfigurable modular robot platform
Roombots'' such that they perform a variety of tasks centered around adaptive and assistive furniture with up to 12 modules. This includes demonstrations of self-reconfiguration, mobile furniture, object manipulation, interaction capabilities and the development of a user interface. With these improvements, this platform can in the future also be used for further locomotion research where the shape-shifting ability could be of major importance.Peter Eckert, Simon Lukas Hauser, Auke Ijspeert, Alexandre Tuleu