Robotic Locomotion in Unstructured Terrain

Watch this video to learn about a bio-inspired musculoskeletal leg architecture driven by antagonistic pairs of electrohydraulic artificial muscles. The leg, mounted on a boom arm, can adaptively hop on varying terrain in an energy-efficient yet agile manner.

Learn more  about the electrohydraulic musculoskeletal robotic leg for agile, adaptive, yet energy-efficient locomotion.

Transcript

00:00:10 we present A versatile muscular skeletal robotic leg powered by Soft electrohydraulic actuators this leg is agile adaptive energy efficient and self- [Music] sensing our leg hops over varying terrain like grass sand gravel Pebbles and large rocks it uses solely a periodic voltage signal from an open

00:00:34 loop voltage [Music] controller the system is also agile generating gate motions at each cyclic frequency the gate motion was generated by phase shifted sinusoid voltage input for each muscle its motion trajectory was highly repeatable even at 10 Herz it's is energy efficient due to

00:01:01 almost zero power consumption when holding postures our legs showed no observable temperature change while the DC motor leg heated up its actuator and cables also our leg system can detect collisions with obstacles and overcome them it uses only its muscle capacitive self- sensing functionality and no additional sensors are [Music]

00:01:25 needed thank you for watching please refer to our paper for more details [Music]