project specification

Fast Runner Robot

The design of a fast, efficient and robust bipedal robot which has been inspired by the fastest bipedal animal on earth, the ostrich. Six links and six joints constitute the main elements of the FastRunner robot. Two suspension elements are used in the FastRunner leg to store and release the energy caused by gravity forces during running. One of the biggest challenges to get the robot running in simulation was to passively actuate its toes. The toes must flex (curl down/backward) when the leg is swinging forward to increase the ground clearance and they must extend at the end of the forward swing phase to prepare for ground contact. To achieve these desired effects, two tendon networks were used.

Overview

Six links and six joints constitute the main elements of the FastRunner robot. Two suspension elements are used in the FastRunner leg to store and release the energy caused by gravity forces during running. One of the biggest challenges to get the robot running in simulation was to passively actuate its toes. The toes must flex (curl down/backward) when the leg is swinging forward to increase the ground clearance and they must extend at the end of the forward swing phase to prepare for ground contact. To achieve these desired effects, two tendon networks were used.

Specifications

  • Foot length: 531 mm.
  • Femur mass: 2.1 kg.
  • Achilles mass: 0.3 kg.
  • Foot mass: 1.5 kg.

References