SPOT


Technical Details

Size: 90 x 45 x 75
Weight: ~35kg
Power supply: 28,8V, 9Ah NiMh Batteries
Actuation/ Engine:
4 (Legs) x 6 (Joints)+ 1 (Head) x 2 (Joints) + 1 (Hip) x 2= 28 Motors

Organisational Details

Application Field: Assistance- and Rehabilitation Systems
Related Projects: SFB TR8 (A6) - ReactiveSpace
Hybrid Learning Architecture for Spatial Recognition, Representation and Navigation (02.2007- 02.2008)
This system is not actively used anymore.

System description

SPOT is based on the design of the ARAMIES robot. It is a fully functional ambulating robot that is robust and kinematically flexible  four-legged walking robot, having a total of 28 joints. Each leg has six degrees of freedom, which allows the robot not only to walk over diverse terrains, but also to manipulate objects. A hip joint allows the robot to bend at the waist in order to sit on its hind-legs or to climb steep slopes.

Besides these kinematic abilities, the robot also possesses a rich repertoire of sensorimotor capabilities. It is equipped with a head-mounted stereo-camera in order to sense visual depth information. Furthermore, there are infrared sensors and pressure-sensors on each leg. The robot also makes use of a laser range-finder, motor-current sensors, ultrasonic sensors, gyroscopes, and accelerometers.

Videos

Learning Walking Patterns für kinematische ComplexRobots

Evolutionsstrategien für kinematisch komplexe Robotersysteme

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last updated 10.09.2019
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