Abstract
part of its weight up while walking. This novel design provides the advantage of being extremely safe and 18 low-cost. The design of the robot incorporates tendon wires to actuate the articulations attached to their 19 thin linkages. The robot employs a data-driven neural network approach for performing walking behaviors.Employing such approach enables to handle the underactuated nature of the robot since BALLU2 has only 21 2 actuated degrees of freedom per leg. In order to determine the transition function for walking, the authors 22 perform a correlation study to chose significant state variables. Then, they train a neural network to learn 23 transition times on both single and double support phases. Walking is accomplished in the real system at a 24 speed of 0.18m/s using an RGBD camera for onboard state estimation.
Highlights
Legged robots have unique potential advantages over wheeled and tracked systems in regard to the traversal of rough and unstructured terrain as well as rapid movement among crowds, and this has led to a growing interest and body of research in legged systems
Some of the issues faced by researchers include the performance limitations of current legged robots, the inherent lower efficiency of legged versus wheeled locomotion, design constraints related to available materials and actuators, substantial power requirements, and lack of spatial reasoning in constrained and dynamic environments; there are, many other challenges to be addressed
The results show how the method led to stable dynamic movements of the exoskeleton, hands-free walking, more natural stand-up and turning moves, and a better physical condition of the pilot after the race compared to other competitors
Summary
Legged robots have unique potential advantages over wheeled and tracked systems in regard to the traversal of rough and unstructured terrain as well as rapid movement among crowds, and this has led to a growing interest and body of research in legged systems. Some of the issues faced by researchers include the performance limitations of current legged robots (when compared to biological systems), the inherent lower efficiency of legged versus wheeled locomotion, design constraints related to available materials and actuators, substantial power requirements, and lack of spatial reasoning in constrained and dynamic environments; there are, many other challenges to be addressed. The goal of this special issue was to identify the fundamental research challenges whose solution is required to bring legged robots to real-world applications. This includes challenges in legged robot design, control, planning, perception, and system integration
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