Dynamics, Robotics, and Kinematics Experiments (DRAKE): Measuring Fast Legged Robots as Oscillators

Abstract

There are critical gaps in the roboticists current understanding of effective gaits for robots with more than two legs. Our goal through this DURIP grant was to significantly enhance the instrumentation available in the BIRDS lab of the University of Michigan for researching, investigating, and developing legged robots, and training students in such development and analysis. By building specially instrumented robots (using equipment purchased via this DURIP grant), we were able to directly measure and understand the contributions of individual legs to the motion of the body. This advances: The theory of limit-cycle oscillators which describe these gaits. The practical Army goal of building all-terrain robots The educational goal of training robotics engineers to conduct cutting-edge multidisciplinary research.

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Document Details

Document Type
Technical Report
Publication Date
Jan 07, 2020
Accession Number
AD1097207

Entities

People

  • Shai Revzen

Organizations

  • University of Michigan

Tags

DTIC Thesaurus Topics

  • Actuators
  • Carbon Dioxide Lasers
  • Data Sets
  • Dynamics
  • Fabrication
  • Fibers
  • Instrumentation
  • Locomotion
  • Materials
  • Michigan
  • Motion Capture
  • Oscillators
  • Robotics
  • Robots
  • Students
  • Teamwork
  • Tracking Cameras

Readers

  • Optical Physics and Photonics.
  • Robotics and Automation.
  • Systems Analysis and Design

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy