A walking robot using programmable springs

This is a simple demonstration of how programmable spring actuators can be used to create a set of robot legs with in-built stepping reflexes. The robot 'walks' when it is pulled along on its leash. All the behaviour is embedded in the actuators. When a leg is perturbed beyond a limit, the shoulder actuator sends a binary signal to the knee actuator, which lifts the leg off the ground. The leg drops back when it has swung forward far enough. When one leg takes a step it will also send a signal to suppress the stepping reflex in the other leg, which stops them both stepping at the same time.

For more details about Programmable Spring Actuators go to:
http://www.informatics.sussex.ac.uk/users/wb23/PGS/PGS.html
And you can find a page about how this robot works via the Videos page on my site, or through here:
http://tinyurl.com/mtp7aa
I also have a page on the Brighton Robotics Community website here:
http://robotbrighton.ning.com/profile/BillB

Category:

Science & Technology

Tags:

• Robots
• Walking robots
• Compliant actuators
• Reflexes
• Cybernetics

[Digeridude]

Cool, although limited use since it needs to be pulled. I think someone could make a really cool robot pet that goes for walkies. =)

[GCUEntropy]

It is a bit limited but you can easily add to the software so it can walk on its own. The purpose of this bot was to demonstrate how you can do lots of interesting things when you have control over compliance - how easily the servo responds to external forces.

[GCUEntropy]

The robot has virtual springs controlling the lifting of its legs, if you made one with six legs you could program each to work like a suspension system with springs and damping and if you dropped your robot onto its feet from a few feet high it would just bounce - if you did that with normal servos you might well destroy them.

[GCUEntropy]

You get benefits if it is walking over uneven ground as well because it can compensate - it doesn't need sensors to detect of the legs are touching the ground because the servos can be programmed to measure and respond to the weight of the robot.

[oxygon]

That Poor Robot... Stop pulling So Hard! :(

[DaSasquatchHobo]

it looks like a crawler from Call of Duty 5 Nazi Zombies lol

[Mattty2k11]

Great now just fix the bug in it .. Downsyndrom

[evolutionsdisaster]

Superb, grt idea.

[skeletorphd]

Nice. What is Sussex like as a uni and what is the Inforamtics school like?

[Warlock254]

Kinda looks like a robot man crawling after you.

[daveyt88]

hahah u make me laughing so hard! good one

[r32adt3db]

It's like the hunchback of robots. Ugly ass thing that walks with wheels? Lol.

[RastiMinato]

Nice pet there :P

[phi11ykid96]

HAHA