 So the first section we're going to go through Nava Gromability, Nava Air Mobility, Perchance Stair, Speed and Complex Environments and Multi-Platform Coordination, this will be done indoors and then we'll all move outdoors and we have a couple outdoor experiments and comms, Speed and Complex Environments and Multi-Platform Collaboration outside. So excited to get this going, we have a lot to go through, if you have questions we'll be able to answer a few questions between things but we're going to be rapidly going through, be rapid fire through a lot of these things. I give the students a lot of credit, these are again academic experimental platforms that they've traveled on planes across the country and they've been working hard to show them to you so they've I've seen a lot of good things so I'm expecting a lot of spectacular successes today. I'm also expecting a few maybe spectacular failures as well as any good as we're pushing the state of the art to do that but with that let's get started I'm going to turn it over to Dr. Ron Fearing from California Berkeley and we're going to talk about the we'll get access to a lot of the video if you want anything afterwards we'll be able to capture this and slides I'll get you information yeah I'd prefer not to do that we're live streaming things but I have form one clearance things to get that out so with that I'm going to turn over to Ron and he's going to talk about the innovative jumper platform that you saw earlier in today's presentation. Thank you very much Brett for the introduction welcome everyone I my name is Ron Fearing as Brett mentioned I'm here with Justin Yim from UC Berkeley and we want to talk about alternative mobility alternative ground mobility for mass platforms and what we've been looking at is trying to understand how we can build an agile platform which can handle irregular slopes and irregular heights and we want to do this at a high maintaining operational momentum as it were so we were looking at what we're calling a vertical jumping agility which is not just the ability to jump high but the ability to execute jumps at a high rate we call it vertical jumping agility which is in just in meters per second the state of the art in this is actually an animal called the Gallego which has a vertical jumping agility of 2.2 meters per second so to create a platform which has for high vertical jumping agility we made a robot called Salto Salto stands for salt tutorial agile locomotion on terrain obstacles and are you okay we're set so we'll switch over to the live camera and what you're looking at is Salto it's a weighs about a hundred grams it's got switch over to the live live view oh cameras down well but we could just do if people can see I guess if you if we'd like we could just proceed yeah but I guess when you're ready we just proceed so what the robot is going to do if it works works well it's using this external tracking system it has no on-board sensing to know where it is so we're completely reliant on this external tracking especially go go ahead when you're ready the external tracking so it's going to go back to this spot in the back there from which it's then going to proceed forward do a little bit of a run forward here kind of a cruising speed run it's jumping at about half a meter in height and about can do about one meter forward pace and then we'll go back to the home position and it's got a big its target is the soft pad in the back and it's going to work its way back there and if all goes well turn so I should mention to maintain vertical attitude it has an inertial tail keeps controls pitch and it has two thrusters one for controlling roll and yaw so it's just going to go to the center there and gradually stop hopping so it falls over in a in a gentle way there you go all right great so let's switch back to the slides and I want to tell you a little bit about the the research accomplishments that we had that it that enabled this this demonstration so we switch back to the slides okay so as you can see this thing is jumping we have to be able to control energy and we have to be able to to store and control energy and release it at the rate we want to and the the technique we're using there is called series elastic power modulation which gives us ability to control power and energy and but another one of the challenges is you have to release this energy in such a way that the robot jumps straight and doesn't just tip over so and you also need to be able to extract as much power as you can from the limited motor you have so there's actually a special mechanism which is designed we call it's an eight bar linkage which is designed in such a way that it satisfies all of these constraints simultaneously straight line motion launches with zero angular momentum and it also couples the the motor into the foot so it gives constant acceleration all this to generate a very rapid acceleration the ground contact is about a tenth of a second or so and we're gonna so I'm gonna we're gonna switch now this is a much harder thing so this is these obstacles that I want to warn you ahead of time that if we don't track like go ahead run whenever you're ready if we don't track perfectly well where the robot is with with this motion capture system it's not gonna hit the target and to tell you it has to be within half a degree to be able to get on top there oh okay so it took a okay so it did partial partial jump that's good well it's I'll show you the the real thing let's go to the back to the slide I'll show you we had success previously so if the angle is off by half a degree or a degree it's gonna be jumping by half a meter off so let's show you what what it actually works well so it's very sensitive to the motion capture system go to the next slide okay we just just play the the video when it's actually doing what it's supposed to go ahead to play that oops yeah just give that a play there we go so it's pretty sensitive it's off just a little bit it won't won't hit the won't hit the target okay so there it's working working better yesterday down it goes so we have a peak jumping agility of about 1.7 meters a second we're getting pretty close to what the Galago does the big thing that we do need to add on this is the some sort of onboard perception because it's just too too sensitive to this the variations in the environment that the motion capture system doesn't know about great so that it has worked previously so let me just summarize the the the main results that we've learned through this project one is how to do controlled hopping on a variety of surfaces using all those techniques I told you we found out about we have achieved high vertical jumping ability through management of energy and as well as the design of a mechanism and we can do at the current state we can do waypoint navigation using Vicon though we definitely want to do this with onboard sensing so I wanted to and we think this will be useful to the Army and future systems where you need high maneuverability for example in surveillance surveillance or reconnaissance in complicated terrain so let me show you a couple other things you did an agile locomotion in the lower left if you could start that video we wanted to explore well what are the limits to like it locomotion is there for example a speed limit that's hard to go over and what we created this robot called the x2 roach which runs at 49 body lengths a second you can see it just cruising cruising along there sorry sorry the picture is so so small but we found out is that we actually there is no limit to like it locomotion as much power as you can put in you can increase the speed what happens is your energetic cost goes up because you have to pay for all the leg inertia recycling but you can see that okay and the other other thing we're looking at is in plane maneuverability so if you're on a very slippery surface how do you turn quickly and so we as your system gets smaller you can take advantage of inertial properties so we can turn in place while running at we can do a 360 degree turn in one second while running at one meter a second so what this is shown is I think as part of the outcome of the mass program building these small platforms gives you access to building very maneuverable very agile systems which we hope will be useful for future Army Army missions so with that thank you very much for your attention I don't know if we have time for questions but otherwise we'll hand the mic off