If you do this one leg one arm support, how long can you last?

This robot can do it for a long time, and it’s still undisturbed.

HYQ robot mainly uses the conversion of diagonal foot pairs to achieve balance

No matter how other people shake it, it is still able to keep its balance.

You can even walk on the tightrope and play Ninja

HYQ robot mainly uses the conversion of diagonal foot pairs to achieve balance

With a 6cm wide bridge, the robot’s feet are 4cm in diameter.

Recently, a robot named dynamic legged Systems Lab (DLS) developed HYQ with super balance force.

A 90kg robot can walk in a straight line, do yoga, and even walk on a 6cm wide wooden strip. How can this balance be achieved?

How to achieve super balance force?

The ability of a robot’s leg system to pass through a “highly restricted environment”, such as a very narrow template, depends largely on the performance of the motion and balance controller.

Based on this, the team developed a controller to realize the super balance force of the robot.

The principle of the controller is published in the paper “line walking and balancing for legged robots with point feed”. It has been included in IEEE 2020.

First, a simulation virtual model, low dimensional virtual model (2-DOF), is set up, which corresponds to the two degrees of freedom of the pendulum.

There are two goals in this way: to understand the performance of the balance controller under ideal conditions, and the sensitivity of the controller to false test and external interference.

The research team set up three simulation tests, namely, receiving “constant” external interference, the robot walking along the specified path, and the Ninja walk.

Then the same controller is applied to the real robot, and the simulated motion model is mapped to the robot.

Through mapping, the controller can be applied in the pendulum space and its output can be converted into the signal of the actual robot.

HYQ robot mainly uses the conversion of diagonal foot pairs to achieve balance

When walking, the robot mainly uses the conversion of diagonal foot pairs to achieve balance.

HYQ robot mainly uses the conversion of diagonal foot pairs to achieve balance

All dynamic transformations of robot are generated by robcogen.

Finally, it is found that accurate torque measurement is very important for torque controlled robots, and the balance controller will generate low torque commands.

The team behind

The dynamic legged systems (DLS) laboratory, as you can tell from its name, mainly develops “leg robots” with high performance and multi-function.

The chief researcher of this laboratory is Claudio semini, who graduated from electrical engineering and information technology of Federal Institute of technology in Zurich. He is also the co-founder and chairman of IEEE Ras robot mechanism and Design Technology Committee.

At present, there are mainly five robots in the laboratory, including hyqreal, hyq2max, minihyq and hyqcentaur.

Among them, hyqreal is the flagship product of their laboratory.

It is about 1.33 m long and 90 cm high. Although it looks heavy, it can run, jump and walk on rugged terrain. It can be controlled by intelligent remote control.

In this way, does it feel like a Boston power robot dog?

This robot may be more powerful than that dog, because it once pulled a small airliner and pulled it more than 10 meters.

There is also a horse like robot, hyqcentaur, which can be used to clear obstacles, grab objects, rescue and other tasks. It still looks a little cumbersome.

Editor in charge: PJ

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