Bipedal Autonomous Robot BARt

History

1999-2003

2004-2007

2007-2009

since 2009

System Description

• Size: approx. 1,25 m
• Weight: approx. 35 kg
• 19 active joints with Harmonic-Drive gears
• DC-motors with ratings from 60 W to 150 W
• Measurement of joint absolute angles by optical sampling Code-stripes with line cameras
• Sensors: four force sensors in each foot, one inertial measurement unit in the torso
• Power electronics with DSP, connected via CAN-bus
• External main controller: PowerPC with 1 GHz, connected via CAN-bus
• External power supply with 30 V and 12 V

• Larger Image

Videos

• Videos related to research work on falaing down and standing up

Videos related to ongoing research

• Statically stable gait (upper limbs for lateral stabilisation) (Xvid-file 6.6 MB)
• First steps with new legs (Xvid-file 8.7 MB)
• Forward Walking (h264-file 2.2 MB)
• Turn on spot (h264-file 3.2 MB)

Videos related to recent research projects

Different walking modes of dynamically stable walking

• inverted pendulum mode (wmv-file 0.7 MB)
• swing phase optimized inverted pendulum mode (wmv-file 0.7 MB)
• two masses inverted pendulum mode (wmv-file 0.7 MB)
• multiple masses inverted pendulum mode (wmv-file 0.7 MB)

Vision guided walking, cooperation LSR, TU München

• obstacle + step trace + ditch (avi-file 9.2 MB DivX 4.1)
• ditches (avi-file 5.9 MB DivX 4.1)
• ditches + obstacle (avi-file 6.4 MB DivX 4.1)

Miscellaneous

• Statically stable climbing of stairs (wmv-file 1.1 MB)