DLR Biped Robot Leverages LWR Arms -- Eventually Justin's Legs?

DLR Biped Robot -- Justin's new legs?

PlasticPals just pointed out DLR's 10-month effort to build a biped robot -- an effort that yielded a 1-meter, 50kg walking robot (video below).  Mechanically, each leg has six degrees of freedom.  A DLR / Kuka Light-Weight Robot (LWR) arm segment comprises the upper-leg, and a custom lower-leg segment connects to the foot through a six-axis force-torque sensor. Realtime control algorithms and dynamic simulations are performed using OpenHRP3 and Simpack.  DLR claims that this is the "first electromechanically actuated bipedal robot with torque controlled joints," through which they intend to research compliant impedance control for biped locomotion. I share PlasticPals' musings: could these legs ultimately transform Justin into a bipedal walking humanoid?

 

DLR Biped Robot -- Justin's new legs?  DLR Biped Robot -- Justin's new legs? DLR Biped Robot -- Justin's new legs?

 

Comments

DLR claims that this is the "first electromechanically actuated bipedal robot with torque controlled joints,"

I don't agree with this claim.

Here are two biped robots with Series Elastic Actuators (electromechanical, torque controlled actuators) from the MIT Leg Lab (1994-2000):

http://www.ai.mit.edu/projects/leglab/robots/Spring_Flamingo/Spring_Flam...
http://www.ai.mit.edu/projects/leglab/robots/Spring_Turkey/Spring_Turkey...

—Anonymous

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