Dec. 2016 - Apr. 2018
Progress:
05/20/2018: Attended the Dynamic Walking conference. [Poster]
02/20/2018: Implemented Raibert style running controller. Hopping in place:
02/03/2018: Simple switch from HZD walking to HZD running.
11/30/2017: RAMone runs at various speeds stably in simulation. (30 cm/s to 120 cm/s) [Video List]
11/19/2017: Started writing a journal paper with colleagues.
10/15/2017: Running stably at 80 cm/s in simulation.
09/21/2017: Walking stably at the speed of 65 cm/s.
09/14/2017: Walking at the speed of 65 cm/s. [Video]
09/08/2017: Walking at the speed of 30 cm/s. [Video]
09/07/2017: Our paper has been accepted to IROS 2017! [Workshop Paper]
07/25/2017: Speed ranges from 40 cm/s to 100 cm/s.
07/17/2017: Added foot clearance to HZD controller. The walking speed in the video is 76 cm/s. [Video]
06/01/2017: RAMone is walking stably with HZD controller in simulation. The walking speed in the video is 76 cm/s. [Video]
05/04/2017: Since the current controller requires too much tuning, we decided to change our approach. We will use Hybrid Zero Dynamics (HZD) for the new controller.
The work that we have done so far was written in the report. [Research Report]
04/09/2017: Implemented a running controller for RAMone. (Pitch angle was fixed.) [Video]
02/12/2017: Implemented a running controller for a five-link robot (simplified RAMone).
Methods include virtual model control and Raibert style controller.
The robot is able to run backward. This can also be interpreted as a robot running forward with backward-bent knees. (e.g. an ostrich-like robot) [Video]
02/07/2017: Implemented a running controller for an one-leg robot with knee. [Video]
01/14/2017: Implemented a running controller for a two-leg robot. Added uneven terrain. [Video1, Video2]
01/09/2017: Implemented Raibert style controller for a one-leg robot. [Video]
01/03/2017: Built a simulation framework of 2D SLIP with Raibert style controller. [Video]