UZH 1
The following videos are a few examples of the capabilities. of the UZH1 robot. We show the different possible gaits and a video on gait changes as well as maneuverability:
Changing gaits, from pace to bound
Maneuvering the robot in bound gait
UJEN
Simulation studies
(1) Walk-run-transitions. Dynamic transition from running to walking and vice versa with the leg-mass extended spring-mass model M-SLIP. To prepare the transition to walking, speed is reduced first (yellow dot). Leg damping is increased to induce the gait change to walking (red dot). Finally, we switch back to the original combination of speed and leg damping, which consequently induces a gait change to running (green dot).
download movie (wmv, 15MB) (was shown by F. Peuker during oral presentation at 5th International Symposium on Adaptive Motion in Animals and Machines (AMAM2011), Oct 11-14, 2011, Awaji Island, Japan)
(2) Limb-damage caused change of pedality. Our M-SLIP model can keep on with dynamic legged locomotion even if a hind limb in a quadruped suffers a sudden damage. At the instant of power-off, the damaged leg is moved to a neutral position where it does not hinder locomotion. At the same time, we induce a three-legged gait similar to those observed in dogs by adjusting hip stiffness, leg stiffness and control primitve (leg swings forward directly after lift-off) of the remaining hind limb.
download movie (wmv, 3MB) (was shown by F. Peuker during oral presentation at Dynamic Walking 2011, Jul 18-21, 2011, Jena, Germany)
LocoKit
Here is video showing the new LocoKit mechatronics in action. Notice there is no intelligent control, it is just a hardware demonstration.
