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Lightweight, Agile NABiRoS Robot Walks Sideways

Traditional humanoid robots are complex machines whose practical uses are still limited due to their complexity, cost, slow speed, and lack of stability. The Non-Anthropomorphic Bipedal Robotic System (NABiRoS), created by a team at UCLA's Robotics & Mechanisms Laboratory, modifies the traditional bipedal form by aligning the legs in the sagittal plane and adding compliance to the feet - reducing the total number of actuated degrees of freedom to four. The platform is comparable in height to a human, but weighs much less because of its lightweight architecture and novel leg configuration. NABiRoS can traverse shallow ramps and steps and even portray a certain level of emotion through the dynamic motions it performs.

Topics:
Automation Motion Control Robotics

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    Transcript

    00:00:04 humanoid robots are incredibly complex machines that are as fragile as they are versatile meaning their use in Practical applications is limited just yet in the last decade ramela has created Darwin the award-winning miniature humanoid Charlie the full-size rboc Cup champion Thor Rd a rescue robot designed for disaster relief Sapphire the shipboard autonomous firefighting robot and Thor

    00:00:27 an advanced full-size humanoid that utilizes custom linear series elastic actuators with impedance control one of the reasons why bipedal walking is difficult is because of an offset in the hip joints this creates undesirable oscillatory moments that Force the robot to take small calculated steps however when taking steps side to side these moments don't appear

    00:00:47 furthermore the forward- facing knees aren't being used and they can be rotated by 90° so the legs are aligned in a plane by lining the legs in the sagittal plane we can achieve stable forward walking because the legs are restricted to to a plane we can take out the ankle and simplify the foot in addition to these simplifications we can also change The Shins and head to make

    00:01:07 the robot more versatile simulations showed the potential of the platform from an early stage by exploding the fact that there is no need for biological systems such as blood vessels and nerves in a robot mechanism we can add a continuous joint at the knee that allows for even more modes of locomotion this feature can be used to go over a tall door sill like the kind you might

    00:01:26 find on a ship The Continuous knees also provide an elegant method for climbing stairs after 2 weeks of grueling work we present nairos non-anthropomorphic bipedal robotic system a fresh new approach to a simple lightweight and practical bipedal robot you're wild the robot boasts of lightweight aluminum and carbon fiber architecture it has one degree of Freedom at each hip

    00:01:49 one degree of Freedom at each knee and compliance in the feet at a height of 135 cm the robot is comparable in height to a human however with an external power source it only weighs 3. .97 kg due to its lightweight construction and because its leg configuration doesn't need as many actuators initial testing shows the inherent stability of the system even

    00:02:09 under open loop control This Test shows the robot utilizing the compliance in its feet generate an energy efficient walking gate this test demonstrates the robot jumping by utilizing the foot compliance the compliance in the feed also allow for walking through unstructured terrain under open loop control with the ability to perform such

    00:02:34 Dynamic motions stapely it is possible to convey human-like emotions through the actions of the robot this is just the start of the project in the future we plan to add much more functionality to this evolving [Music] platform