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Preliminary Indoor Walking Gaits for Underactuated Bipedal Robot MARLO

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Published on Nov 27, 2013

[As far as we know, MARLO is the first two-legged robot with passive feet to stand motionless and then walk on flat ground or up very mild slopes without external support. If you know of others, email our channel]. Going in reverse chronological order, the process of getting the robot to stand quietly and then walk without external support is presented for MARLO, an underactuated 3D bipedal robot with passive prosthetic feet. The robot's feedback control is designed using virtual constraints. In early experiments, MARLO was attached to a boom. but with improved control, the robot can now walk without any external support. A safety cable attached to a winch on the ceiling is used to catch the robot when it falls, avoiding expensive and time-consuming repairs. MARLO at Michigan is one of 3 ATRIAS-series robots designed and built by Jonathan Hurst at Oregon State University. The other two copies are at CMU [with H. Geyer] and Oregon State.

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