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Fall Recovery for a Quadrupedal Robot
The ASL (http://leggedrobotics.ethz.ch) develops quadrupedal robots that can statically walk and dynamically run on different types of terrain. In contrast to wheeled or tracked vehicles, legged robots have the ability to recover from falls. So far,
The ASL (http://leggedrobotics.ethz.ch) develops quadrupedal robots that can statically walk and dynamically run on different types of terrain. In contrast to wheeled or tracked vehicles, legged robots have the ability to recover from falls. So far, a sophisticated fall recovery behavior has not been implemented for our quadrupeds. The goal of this work is to develop a control strategy that allows the robot to safely transit from a 'fallen' state to a 'nonfallen' state. In other words, the robot lying on the ground in an arbitrary configuration should get up to a standing position such that it is able to continue walking after a fall.
The ASL (http://leggedrobotics.ethz.ch) develops quadrupedal robots that can statically walk and dynamically run on different types of terrain. In contrast to wheeled or tracked vehicles, legged robots have the ability to recover from falls. So far, a sophisticated fall recovery behavior has not been implemented for our quadrupeds. The goal of this work is to develop a control strategy that allows the robot to safely transit from a 'fallen' state to a 'nonfallen' state. In other words, the robot lying on the ground in an arbitrary configuration should get up to a standing position such that it is able to continue walking after a fall.