BIOMIMETIC LEGGED ROBOTS OPERATING IN ROUGH ENVIRONMENTS

Abstract: 

Animals and humans have incredible motion capabilities in terms of speed, energy efficiency, and traversal of rough environments, mainly due to their legged locomotion system.

The scientific study of legged locomotion began over a century ago and at about then, the first designs appeared. A number of robots with one to six, or even more legs have been developed up to date. Today, the attention of the research community is turned towards closing the performance gap that still separates robotic devices from their counterparts in nature. Although legged robots have the potential to outperform wheeled machines in rough environments, they are subject to complex motion planing and control challenges and to balance-in-motion constraints.

The aim of this research program is the integration of such capabilities into autonomous and dependable legged robotic systems through the development of novel designs and control methods, with emphasis on efficient locomotion.

To reach our goals, our teams working with humans, animals, legged robots, crawlers and humanoids will cooperate employing an interdisciplinary approach. The work includes both analytical and experimental thrusts and is organized in six workpackages: Analysis and Modelling of Legged Locomotion, Control Systems Design, Design and Implementation of Experimental Robots, Experimental Study of Motion, Dissemination of Results, and Project Management.

The expected results include:

  1. an autonomous quadruped robot with multi-jointed legs and articulated body that can achieve fast and stable gaits through uneven terrains,
  2. a multi-legged robot with flexible elements capable of robust locomotion through uneven terrains with its body in full ground contact,
  3. the development of control algorithms for humanoids employing upper and lower limb coordination for stable gaits through uneven terrains
  4. a comprehensive study of the control and stability methods of humans and animals during locomotion through uneven terrains.

Project info

Acronym:
BioLegRob
Scientific Coordinator:
Papadopoulos Evangelos
Research Team 2 Leader:
Tsakiris Dimitris
Research Team 3 Leader:
Giakas Giannis

Stats

I.D.:
139
Mis:
379424
Duration (months):
39
Budget:
600 000.00
Diavgeia:
ΑΔΑ: Β41Β9-77Ρ

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