MABEL, a new robotic bipedal walker and runner

Authors:
J. W. Grizzle;Jonathan Hurst;Benjamin Morris;Hae-Won Park;Koushil Sreenath
Affiliations:
Control Systems Laboratory, Electrical Engineering and Computer Science Department, University of Michigan, Ann Arbor, MI;Mechanical Engineering, Oregon State University, Corvallis, OR;Eaton Innovation Center, Northwestern Highway, Southfield, MI;Mechanical Engineering Department, University of Michigan, Ann Arbor, MI;Control Systems Laboratory, Electrical Engineering and Computer Science Department, University of Michigan, Ann Arbor, MI
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 3
Cited 2

Legged robots that balance

Legged robots that balance
Three uses for springs in legged locomotion

International Journal of Robotics Research
Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot

International Journal of Robotics Research

A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL

International Journal of Robotics Research
Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL

International Journal of Robotics Research

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Abstract

This paper introduces MABEL, a new platform for the study of bipedal locomotion in robots. One of the purposes of building the mechanism is to explore a novel powertrain design that incorporates compliance, with the objective of improving the power efficiency of the robot, both in steady state operation and in responding to disturbances. A second purpose is to inspire the development of new feedback control algorithms for running on level surfaces and walking on rough terrain. A third motivation for building the robot is science and technology outreach; indeed, it is already included in tours when K-through-12 students visit the College of Engineering at the University of Michigan. MABEL is currently walking at 1.1 m/s on a level surface, and a related monopod at Carnegie Mellon is hopping well, establishing that the testbed has the potential to realize its many objectives.