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Current issue

ELEKTRO 8-9/2017 was released on September 5th 2017. Its digital version will be available on September 5th 2017.

Topic: 59th International engineering fair in Brno; Electrical engineering in industry

Main Article
Fuel cells
Renaissance of synchronous reluctance motors
Actuator design working with electromagnetic field

SVĚTLO (Light) 5/2017 was released on September 18th 2017. Its digital version will be available on September 18th 2017.

Luminaires and luminous apparatuses
MAYBE STYLE introducing LED design luminaires of German producer Lightnet
TREVOS – new luminaires for industry and offices
How many types of LED panels produces MODUS?
Intelligent LED luminaire RENO PROFI

Interiors lighting
The light in indoor flat interior – questions and answers

High Speed Bipedal Robot Running Using High Speed Visual Feedback

09.09.2014 | |

With the goal of pursuing the limit of the machine system beyond the human being by improving both hardware and control method, Ishikawa Watanabe Laboratory developed an entirely new bipedal running robot system "ACHIRES" (Actively Coordinated High-speed Image-processing Running Experiment System) using the high-speed visual feedback, and we have realized a high speed running as the first step of this research.

ACHIRES is composed of high-speed vision and high-speed actuators to achieve instantaneous recognition and behavior. The similar technologies are used in our Janken (Rock Paper Scissors) Robot. High-speed vision detects the state of the biped robot including the timing of landing at 600 fps. The biped mechanism with the leg length of 14 cm is set to run in the sagittal plane. At present, the running velocity reaches 4.2 km/h. Simple control based on high-speed performance of sensory-motor system enables the biped robot to stably run without falling, unlike computationally expensive ZMP-based control which is commonly used for balance. The aerial posture is recovered to compensate for the deviation from the stable trajectory using high-speed visual feedback.

We also address a task of somersaulting. While running, the robot takes a big swing with one foot and jumps. After takeoff, both legs are controlled to curl up for high-speed rotation in the air. ACHIRES is going to be improved to push the envelope while demonstrating various biped locomotion tasks.

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