RI Seminar: Jonathan Hurst : Designing Robots to Walk and Run

Jonathan Hurst
College of Engineering Deans Professor, Oregon State University
April 01, 2016
Abstract
Legged locomotion is a challenging physical interaction task: underactuation, unexpected impacts, and large and rapidly changing forces and velocities are commonplace. Utilizing passive hardware dynamics in tight integration with the software control, with both aspects of “behavior design” considered together as part of the overall design process, can drastically improve the performance of a machine as measured by efficiency, agility, and robustness to disturbances.
This design philosophy was recently demonstrated on ATRIAS, a bipedal spring-mass robot. The passive dynamics of the hardware match a simple biomechanically-derived spring-mass model, while the software control relies on the passive dynamics as an integrated aspect of the system behavior. ATRIAS walks using approximately 400W of power, accelerates to a run, handles large unexpected obstacles with no prior knowledge of the terrain, and is the first machine to reproduce the dynamics of a human walking gait. In this presentation, we explain our design philosophy, results with ATRIAS, current work on a successor robot Cassie, and plans for commercialization of this technology by Agility Robotics.
Speaker Biography
Jonathan W. Hurst is the College of Engineering Dean's Professor of Robotics in the School of Mechanical, Industrial, and Manufacturing Engineering at Oregon State University, and the co-founder and Chief Technology Officer of Agility Robotics. He holds a B.S. in Mechanical Engineering, and both an M.S. and Ph.D. in Robotics, all from Carnegie Mellon University. His university research focuses on understanding the fundamental science and engineering best practices for legged locomotion. Investigations range from numerical studies and analysis of animal data, to simulation studies of theoretical models, to designing, constructing, and experimenting with legged robots for walking and running.

[@krish2nasa]

Excellent Lecture! Thank you very much Prof Jonathan

[@SpikeBoarding]

We are seeking robotics researchers to mimic SpikeBoarding kinetics.

[@JamesNewton]

really glad to see that this high efficiency, low energy model is being developed.

[@beckettkashton5232]

you all prolly dont give a damn but does someone know a tool to log back into an instagram account..?
I somehow lost the password. I would love any assistance you can give me!

[@dukeatlas5415]

@Beckett Kashton instablaster :)

[@Frankthegravelrider]

Whos sung bay kim?

[@richardkennedy8045]

Why was Boston Dynamics allowed to be SOLD to the JAPANESE when it was at least partially financed by a Government agency ( DARPA )
Who in the Government gave the OK for this ? WE WANT TO KNOW !

[@williamchamberlain2263]

You know this guy is from CMU and Oregon Uni, right? If you want to know about Boston Dynamics you'd be better off talking to the DoD or State Department