From the Autonomous Systems @ OSU conference. http://research.oregonstate.edu/unmanned-systems-initiative

1. The
Impact
Will
Be
Huge
Exoskeletons
Prosthe.cs
Robots

2. How
to
build
machines
with
animal-­‐like
performance:
Passive
Dynamics
+
Applied
Control
Machine
embodies
desired
passive
dynamics
• Bio-­‐inspired
Spring-­‐mass
model
Control
robot
using
insights
from
this
model
and
animal
studies
• Don’t
force
the
robot.
Let
it
do
its
thing.
Control
and
hardware
give-­‐and-­‐
take,
hand
off
responsibility
for
overall
behavior
to
each
other.
July
15,
2015
2
ATRIAS!
Assume The Robot Is A Sphere!

3. Gibbons

4. Trout

5. Step
1:
Dynamically
Balance
July
15,
2015
5

6. Step
2:
Robustness
to
Random
Disturbances
July
15,
2015
6

7. Step
3:
Walk
Over
Obstacles
July
15,
2015
7

8. Step
4:
Run!
July
15,
2015
8

9. Step
5:
Really
Big
Obstacles!
Blind!
July
15,
2015
9

10. The
Ground
Reaction
Force
Matches:
-­‐
Animals
-­‐
Spring-­‐Mass
As
an
Emergent
Behavior.
July
15,
2015
10

11. The
Big
Demonstration
(DARPA
Robotics
Challenge)
July
15,
2015
11

12. What’s
Next?
Science;
Steering;
Robust
Hardware
July
15,
2015
12

13. Funding
Agencies
and
Grants
grant
#:
RGY0062/2010
grant
#:
W91CRB-­‐11-­‐1-­‐0002
grant
#:
W31P4Q-­‐13-­‐C-­‐0099
Thank
you!
Andy
Abate
ChrisXan
Hubicki
Ryan
Domres
Mikhail
Jones
Andrew
Peekema
Siavash
Rezazadeh
Johnathan
Van
Why
OSU
ATRIAS
Team
Collaborators
Dr.
Hartmut
Geyer
Carnegie
Mellon
Dr.
Jessy
Grizzle
University
of
Michigan
Dr.
Monica
Daley
Royal
Veterinary
College,
University
of
London
grant
#:
CMMI-­‐1100232