Jonathan Hurst
- 1. The Impact Will Be Huge Exoskeletons Prosthe.cs Robots
- 2. How to build machines with animal-‐like performance: Passive Dynamics + Applied Control Machine embodies desired passive dynamics • Bio-‐inspired Spring-‐mass model Control robot using insights from this model and animal studies • Don’t force the robot. Let it do its thing. Control and hardware give-‐and-‐ take, hand off responsibility for overall behavior to each other. July 15, 2015 2 ATRIAS! Assume The Robot Is A Sphere!
- 3. Gibbons
- 4. Trout
- 5. Step 1: Dynamically Balance July 15, 2015 5
- 6. Step 2: Robustness to Random Disturbances July 15, 2015 6
- 7. Step 3: Walk Over Obstacles July 15, 2015 7
- 8. Step 4: Run! July 15, 2015 8
- 9. Step 5: Really Big Obstacles! Blind! July 15, 2015 9
- 10. The Ground Reaction Force Matches: -‐ Animals -‐ Spring-‐Mass As an Emergent Behavior. July 15, 2015 10
- 11. The Big Demonstration (DARPA Robotics Challenge) July 15, 2015 11
- 12. What’s Next? Science; Steering; Robust Hardware July 15, 2015 12
- 13. Funding Agencies and Grants grant #: RGY0062/2010 grant #: W91CRB-‐11-‐1-‐0002 grant #: W31P4Q-‐13-‐C-‐0099 Thank you! Andy Abate ChrisXan Hubicki Ryan Domres Mikhail Jones Andrew Peekema Siavash Rezazadeh Johnathan Van Why OSU ATRIAS Team Collaborators Dr. Hartmut Geyer Carnegie Mellon Dr. Jessy Grizzle University of Michigan Dr. Monica Daley Royal Veterinary College, University of London grant #: CMMI-‐1100232