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Bruce -- Design and Development of a Dynamic Hexapod Robot

2020-11-01 15:06:35
Ryan Steindl, Thomas Molnar, Fletcher Talbot, Nicolas Hudson, Benjamin Tam, Simon Murrell, Navinda Kottege
arXiv_RO
       
Abstract

This paper introduces Bruce, the CSIRO Dynamic Hexapod Robot capable of autonomous, dynamic locomotion over difficult terrain. This robot is built around Apptronik linear series elastic actuators, and went from design to deployment in under a year by using approximately 80\% 3D printed structural (joints and link) parts. The robot has so far demonstrated rough terrain traversal over grass, rocks and rubble at 0.3m/s, and flat-ground speeds up to 0.5m/s. This was achieved with a simple controller, inspired by RHex, with a central pattern generator, task-frame impedance control for individual legs and no foot contact detection. The robot is designed to move at up to 1.0m/s on flat ground with appropriate control, and was deployed into the the DARPA SubT Challenge Tunnel circuit event in August 2019.

Abstract (translated)

URL

https://arxiv.org/abs/2011.00523

PDF

https://arxiv.org/pdf/2011.00523.pdf

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