ACHIRES: High-Speed Bipedal Robot Runs Using High-Speed Visual Feedback

Researchers from the University of Tokyo's Ishikawa Watanabe Laboratory have developed a new bipedal running robot system called 'ACHIRES' (Actively Coordinated High-speed Image-processing Running Experiment System). ACHIRES is composed of high-speed vision and high-speed actuators to achieve instantaneous recognition and behavior. High-speed vision detects the state of the biped robot, including the timing of landing at 600 fps. The biped mechanism with the leg length of 14 cm is set to run in the sagittal plane. Currently, the running velocity reaches 4.2 km/h. The robot's aerial posture is recovered to compensate for the deviation from the stable trajectory using high-speed visual feedback. ACHIRES can also somersault. While running, the robot takes a big swing with one foot and jumps. After takeoff, both legs are controlled to curl up for high-speed rotation in the air.

Transcript

00:00:00 Achilles is an actively coordinated high-speed image processing experiment system it is composed of high-speed vision and actuators to achieve instantaneous recognition and behavior high-speed Vision monitors the state of the bipad robot including the timing of landing at 600 FPS the bipad mechanism with leg length of 14 cm is set to run in the sagittal plane presently the

00:00:25 running velocity reaches 4.2 kmph simple control based on a high spe sensory motor system enables the bipad robot to run stably without falling unlike the computationally expensive zmp based control system which is commonly used for balance the aerial posture is adjusted to compensate for the deviation from the stable trajectory using highspeed visual

00:00:48 feedback we also address the task of Summer salting while running the robot takes a big swing with one foot and jumps after jumping both legs Curl Up For high-s Speed rotation in the air a is is going to be improved to push the limits while demonstrating various bipedal locomotion tasks